hpp-manipulation
4.12.0
Classes for manipulation planning.
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18 #ifndef HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH
19 # define HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH
21 # include <hpp/core/problem-solver.hh>
22 # include <hpp/core/steering-method.hh>
30 namespace manipulation {
38 return steeringMethod_;
53 void init (SteeringMethodWkPtr_t weak)
55 core::SteeringMethod::init (weak);
64 namespace steeringMethod {
65 using core::PathPtr_t;
69 typedef core::SteeringMethodBuilder_t SteeringMethodBuilder_t;
88 return createCopy (weak_.lock ());
111 template <
typename T>
116 gsm->innerSteeringMethod (T::create (problem));
124 #endif // HPP_MANIPULATION_STEERING_METHOD_GRAPH_HH
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:30
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
const core::SteeringMethodPtr_t & innerSteeringMethod() const
Definition: graph.hh:36
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
virtual core::SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: graph.hh:86
void init(SteeringMethodWkPtr_t weak)
Definition: graph.hh:53
void innerSteeringMethod(const core::SteeringMethodPtr_t &sm)
Definition: graph.hh:41
static GraphPtr_t create(const core::ProblemConstPtr_t &problem)
core::SteeringMethodPtr_t steeringMethod_
The encapsulated steering method.
Definition: graph.hh:61
ProblemConstPtr_t problem_
A pointer to the manipulation problem.
Definition: graph.hh:59
void init(GraphWkPtr_t weak)
Definition: graph.hh:100