hpp-manipulation
5.0.0
Classes for manipulation planning.
problem.hh
Go to the documentation of this file.
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// Copyright (c) 2014, 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_PROBLEM_HH
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#define HPP_MANIPULATION_PROBLEM_HH
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#include <hpp/core/problem-solver.hh>
// PathValidationBuilder_t
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#include <hpp/core/problem.hh>
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#include <
hpp/manipulation/device.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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class
HPP_MANIPULATION_DLLAPI
Problem
:
public
core::Problem {
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public
:
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typedef
core::Problem
Parent
;
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static
ProblemPtr_t
create(
DevicePtr_t
robot);
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void
constraintGraph(
const
graph::GraphPtr_t
& graph);
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graph::GraphPtr_t
constraintGraph
()
const
{
return
graph_; }
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virtual
void
checkProblem()
const
;
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PathValidationPtr_t
pathValidation()
const
;
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void
pathValidation(
const
PathValidationPtr_t
& pathValidation);
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SteeringMethodPtr_t
manipulationSteeringMethod()
const
;
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PathValidationPtr_t
pathValidationFactory()
const
;
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void
setPathValidationFactory(
const
core::PathValidationBuilder_t& factory,
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const
value_type
& tol);
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protected
:
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Problem
(
DevicePtr_t
robot);
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void
init(ProblemWkPtr_t wkPtr);
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private
:
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ProblemWkPtr_t wkPtr_;
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graph::GraphPtr_t
graph_;
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core::PathValidationBuilder_t pvFactory_;
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value_type
pvTol_;
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};
// class Problem
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}
// namespace manipulation
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}
// namespace hpp
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#endif // HPP_MANIPULATION_PROBLEM_HH
hpp::manipulation::value_type
core::value_type value_type
Definition:
fwd.hh:89
HPP_MANIPULATION_DLLAPI
#define HPP_MANIPULATION_DLLAPI
Definition:
config.hh:88
hpp::manipulation::Problem
Definition:
problem.hh:43
fwd.hh
fwd.hh
hpp::manipulation::graph::GraphPtr_t
shared_ptr< Graph > GraphPtr_t
Definition:
fwd.hh:47
device.hh
hpp::manipulation::Problem::Parent
core::Problem Parent
Definition:
problem.hh:45
hpp
Definition:
main.hh:1
hpp::manipulation::DevicePtr_t
shared_ptr< Device > DevicePtr_t
Definition:
fwd.hh:40
hpp::manipulation::ProblemPtr_t
shared_ptr< Problem > ProblemPtr_t
Definition:
fwd.hh:65
hpp::manipulation::Problem::constraintGraph
graph::GraphPtr_t constraintGraph() const
Get the graph of constraints.
Definition:
problem.hh:54
hpp::manipulation::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition:
fwd.hh:112
hpp::manipulation::PathValidationPtr_t
core::PathValidationPtr_t PathValidationPtr_t
Definition:
fwd.hh:144
include
hpp
manipulation
problem.hh
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