hpp-manipulation
4.15.1
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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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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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-optimizer.hh>
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#include <hpp/core/path-vector.hh>
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#include <hpp/core/path.hh>
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#include <hpp/core/problem-solver.hh>
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#include <hpp/core/problem.hh>
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#include <
hpp/manipulation/config.hh
>
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#include <
hpp/manipulation/constraint-set.hh
>
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#include <
hpp/manipulation/fwd.hh
>
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#include <
hpp/manipulation/graph/fwd.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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public
:
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static
GraphNodeOptimizerPtr_t
create(
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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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:102
hpp::manipulation::GraphNodeOptimizer::GraphNodeOptimizer
GraphNodeOptimizer(const core::ProblemConstPtr_t &problem)
Constructor.
Definition:
graph-node-optimizer.hh:65
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:67
fwd.hh
fwd.hh
hpp::manipulation::GraphNodeOptimizer
Definition:
graph-node-optimizer.hh:57
hpp
Definition:
main.hh:1
hpp::manipulation::GraphNodeOptimizerPtr_t
shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition:
fwd.hh:107
config.hh
include
hpp
manipulation
graph-node-optimizer.hh
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