hpp-manipulation
4.10.1
Classes for manipulation planning.
small-steps.hh
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// Copyright (c) 2016, Joseph Mirabel
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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//
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// This file is part of hpp-manipulation.
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// hpp-manipulation is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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//
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// hpp-manipulation is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
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#ifndef HPP_MANIPULATION_PATHOPTIMIZATION_SMALLSTEPS_HH
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#define HPP_MANIPULATION_PATHOPTIMIZATION_SMALLSTEPS_HH
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#include <
hpp/manipulation/fwd.hh
>
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#include <
hpp/manipulation/config.hh
>
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#include <hpp/core/path-optimizer.hh>
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namespace
hpp
{
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namespace
manipulation {
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namespace
pathOptimization {
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using
hpp::core::Path;
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using
hpp::core::PathPtr_t;
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using
hpp::core::PathVector;
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using
hpp::core::PathVectorPtr_t;
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class
HPP_MANIPULATION_DLLAPI
SmallSteps
:
public
PathOptimizer
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{
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public
:
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static
SmallStepsPtr_t
create
(
const
core::Problem& problem)
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{
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SmallSteps
* ptr (
new
SmallSteps
(problem));
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return
SmallStepsPtr_t
(ptr);
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}
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PathVectorPtr_t optimize (
const
PathVectorPtr_t& path);
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protected
:
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SmallSteps
(
const
core::Problem& problem) :
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PathOptimizer
(problem)
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{}
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};
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}
// namespace pathOptimization
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}
// namespace manipulation
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}
// namespace hpp
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#endif // HPP_MANIPULATION_PATHOPTIMIZATION_SMALLSTEPS_HH
hpp::manipulation::PathOptimizer
core::PathOptimizer PathOptimizer
Definition:
fwd.hh:91
hpp::manipulation::pathOptimization::SmallSteps
Definition:
small-steps.hh:39
HPP_MANIPULATION_DLLAPI
#define HPP_MANIPULATION_DLLAPI
Definition:
config.hh:64
fwd.hh
hpp::manipulation::pathOptimization::SmallSteps::SmallSteps
SmallSteps(const core::Problem &problem)
Constructor.
Definition:
small-steps.hh:52
hpp::manipulation::pathOptimization::SmallStepsPtr_t
boost::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition:
fwd.hh:136
hpp
Definition:
main.hh:1
hpp::manipulation::pathOptimization::SmallSteps::create
static SmallStepsPtr_t create(const core::Problem &problem)
Definition:
small-steps.hh:42
config.hh
include
hpp
manipulation
path-optimization
small-steps.hh
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