hpp-manipulation
4.12.0
Classes for manipulation planning.
graph-node-optimizer.hh
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// Copyright (c) 2015, LAAS-CNRS
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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_GRAPH_NODE_OPTIMIZER_HH
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# define HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
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# include <hpp/core/path.hh>
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# include <hpp/core/path-vector.hh>
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# include <hpp/core/path-optimizer.hh>
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# include <hpp/core/problem.hh>
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# include <hpp/core/problem-solver.hh>
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# include <
hpp/manipulation/fwd.hh
>
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# include <
hpp/manipulation/graph/fwd.hh
>
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# include <
hpp/manipulation/config.hh
>
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# include <
hpp/manipulation/constraint-set.hh
>
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namespace
hpp
{
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namespace
manipulation {
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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
GraphNodeOptimizer
:
public
PathOptimizer
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{
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public
:
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static
GraphNodeOptimizerPtr_t
create
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(
const
core::ProblemConstPtr_t
& problem);
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virtual
PathVectorPtr_t optimize (
const
PathVectorPtr_t& path);
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protected
:
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GraphNodeOptimizer
(
const
core::ProblemConstPtr_t
& problem) :
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PathOptimizer
(problem)
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{}
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private
:
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};
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}
// namespace manipulation
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}
// namespace hpp
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#endif // HPP_MANIPULATION_GRAPH_NODE_OPTIMIZER_HH
hpp::manipulation::PathOptimizer
core::PathOptimizer PathOptimizer
Definition:
fwd.hh:94
hpp::manipulation::GraphNodeOptimizer::GraphNodeOptimizer
GraphNodeOptimizer(const core::ProblemConstPtr_t &problem)
Constructor.
Definition:
graph-node-optimizer.hh:56
constraint-set.hh
HPP_MANIPULATION_DLLAPI
#define HPP_MANIPULATION_DLLAPI
Definition:
config.hh:64
hpp::manipulation::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition:
fwd.hh:56
fwd.hh
fwd.hh
hpp::manipulation::GraphNodeOptimizerPtr_t
shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition:
fwd.hh:99
hpp::manipulation::GraphNodeOptimizer
Definition:
graph-node-optimizer.hh:46
hpp
Definition:
main.hh:1
config.hh
include
hpp
manipulation
graph-node-optimizer.hh
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