hpp-rbprm
4.15.1
Implementation of RB-PRM planner using hpp.
heuristic.hh
Go to the documentation of this file.
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//
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// Copyright (c) 2014 CNRS
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// Authors: Steve Tonneau (steve.tonneau@laas.fr)
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//
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// This file is part of hpp-rbprm.
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// hpp-rbprm 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-rbprm 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-core If not, see
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// <http://www.gnu.org/licenses/>.
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#ifndef HPP_HEURISTIC_HH
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#define HPP_HEURISTIC_HH
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#include <
hpp/rbprm/sampling/sample.hh
>
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#include <map>
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namespace
hpp
{
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namespace
rbprm {
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namespace
sampling {
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struct
HeuristicParam;
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typedef
double (*
heuristic
)(
const
sampling::Sample
& sample,
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const
Eigen::Vector3d& direction,
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const
Eigen::Vector3d& normal,
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const
HeuristicParam
& params);
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struct
HPP_RBPRM_DLLAPI
HeuristicFactory
{
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HeuristicFactory
();
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~
HeuristicFactory
();
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bool
AddHeuristic(
const
std::string& name,
const
heuristic
func);
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std::map<std::string, const heuristic>
heuristics_
;
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};
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}
// namespace sampling
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}
// namespace rbprm
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}
// namespace hpp
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#endif // HPP_HEURISTIC_HH
hpp::rbprm::sampling::HeuristicParam
Defines a parameters set for the ZMP-based heuristic.
Definition:
heuristic-tools.hh:13
hpp::rbprm::sampling::Sample
Definition:
sample.hh:39
hpp::rbprm::sampling::HeuristicFactory
Definition:
heuristic.hh:47
hpp
Definition:
algorithm.hh:26
sample.hh
hpp::rbprm::sampling::heuristic
double(* heuristic)(const sampling::Sample &sample, const Eigen::Vector3d &direction, const Eigen::Vector3d &normal, const HeuristicParam ¶ms)
Definition:
heuristic.hh:38
hpp::rbprm::sampling::HeuristicFactory::heuristics_
std::map< std::string, const heuristic > heuristics_
Definition:
heuristic.hh:52
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition:
config.hh:64
include
hpp
rbprm
sampling
heuristic.hh
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