hpp-python: src/pyhpp/manipulation/problem.hh Source File

hpp-python 9.0.2 python bindings for HPP, based on boost python

problem.hh
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1 // problem.hh
2 //
3 // Copyright (c) 2025, CNRS
4 // Authors: Paul Sardin
5 //
6 // This file is part of hpp-python
7 // hpp-python is free software—you can redistribute it
8 // and/or modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation, either version
10 // 3 of the License, or (at your option) any later version.
11 //
12 // hpp-python is distributed in the hope that it will be
13 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
14 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // Lesser General Public License for more details. You should have
16 // received a copy of the GNU Lesser General Public License along with
17 // hpp-python. If not, see <http://www.gnu.org/licenses/>.
18
19 #ifndef PYHPP_MANIPULATION_PROBLEM_HH
20 #define PYHPP_MANIPULATION_PROBLEM_HH
21
22 #include <hpp/core/config-validations.hh>
23 #include <hpp/core/configuration-shooter.hh>
24 #include <hpp/core/distance.hh>
25 #include <hpp/core/path-projector.hh>
26 #include <hpp/core/path-validation.hh>
27 #include <hpp/core/problem-target.hh>
28 #include <hpp/core/steering-method.hh>
29 #include <hpp/manipulation/problem.hh>
30 #include <pyhpp/core/fwd.hh>
31 #include <pyhpp/core/problem.hh>
32 #include <pyhpp/manipulation/fwd.hh>
33
34 typedef hpp::manipulation::ProblemPtr_t ProblemPtr_t;
35 typedef hpp::constraints::JointAndShape_t JointAndShape_t;
36 typedef hpp::constraints::JointAndShapes_t JointAndShapes_t;
37 typedef hpp::core::ConfigurationIn_t ConfigurationIn_t;
38 typedef hpp::core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
39 typedef hpp::core::SteeringMethodPtr_t SteeringMethodPtr_t;
40 typedef hpp::core::ConfigValidationsPtr_t ConfigValidationsPtr_t;
41 typedef hpp::core::PathValidationPtr_t PathValidationPtr_t;
42 typedef hpp::core::PathProjectorPtr_t PathProjectorPtr_t;
43 typedef hpp::core::ProblemTargetPtr_t ProblemTargetPtr_t;
44 typedef hpp::core::DistancePtr_t DistancePtr_t;
45
46 namespace pyhpp {
47 namespace manipulation {
48
49 // Wrapper class for hpp::manipulation::Problem
50 struct Problem : public pyhpp::core::Problem {
51 hpp::core::Container<JointAndShapes_t> jointAndShapes;
52 PyWGraphPtr_t graph_;
53
54 Problem(const PyWDevicePtr_t& robot);
55 Problem(const hpp::manipulation::ProblemPtr_t& object);
56
57 void constraintGraph(const PyWGraphPtr_t& graph);
58 PyWGraphPtr_t constraintGraph() const;
59 virtual void checkProblem() const;
60 void steeringMethod(
61 const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod);
62 pyhpp::core::PyWSteeringMethodPtr_t steeringMethod() const;
63 void fullSteeringMethod(
64 const pyhpp::core::PyWSteeringMethodPtr_t& steeringMethod);
65 // PathValidationPtr_t pathValidation() const;
66 // void pathValidation (const PathValidationPtr_t &pathValidation);
67 // SteeringMethodPtr_t manipulationSteeringMethod() const;
68 // PathValidationPtr_t pathValidationFactory() const;
69 // void setPathValidationFactory (const core::PathValidationBuilder_t
70 // &factory, const value_type &tol);
71 };
72
73 } // namespace manipulation
74 } // namespace pyhpp
75
76 #endif // PYHPP_MANIPULATION_PROBLEM_HH
hpp::core::Problem
hpp::core::Problem::steeringMethod
SteeringMethodPtr_t steeringMethod() const
Definition: problem.cc:161
hpp::core::Problem::Problem
Problem()
hpp::core::Problem::robot
const DevicePtr_t & robot() const
Definition: problem.cc:126
config-validations.hh
configuration-shooter.hh
fwd.hh
distance.hh
problem.hh
fwd.hh
hpp::constraints::JointAndShapes_t
std::vector< JointAndShape_t > JointAndShapes_t
hpp::constraints::JointAndShape_t
std::pair< JointPtr_t, Shape_t > JointAndShape_t
hpp::core::PathValidationPtr_t
shared_ptr< PathValidation > PathValidationPtr_t
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
hpp::core::ConfigurationShooterPtr_t
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
hpp::core::PathProjectorPtr_t
shared_ptr< PathProjector > PathProjectorPtr_t
hpp::core::ProblemTargetPtr_t
shared_ptr< ProblemTarget > ProblemTargetPtr_t
hpp::core::ConfigValidationsPtr_t
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
hpp::manipulation::ProblemPtr_t
shared_ptr< Problem > ProblemPtr_t
pyhpp::core::PyWSteeringMethodPtr_t
std::shared_ptr< SteeringMethod > PyWSteeringMethodPtr_t
Definition: problem.hh:42
pyhpp::manipulation::PyWDevicePtr_t
std::shared_ptr< Device > PyWDevicePtr_t
Definition: fwd.hh:42
pyhpp::manipulation::PyWGraphPtr_t
std::shared_ptr< PyWGraph > PyWGraphPtr_t
Definition: fwd.hh:47
pyhpp
Definition: fwd.hh:35
path-projector.hh
path-validation.hh
problem-target.hh
PathValidationPtr_t
hpp::core::PathValidationPtr_t PathValidationPtr_t
Definition: problem.hh:41
ProblemTargetPtr_t
hpp::core::ProblemTargetPtr_t ProblemTargetPtr_t
Definition: problem.hh:43
ProblemPtr_t
hpp::manipulation::ProblemPtr_t ProblemPtr_t
Definition: problem.hh:34
JointAndShapes_t
hpp::constraints::JointAndShapes_t JointAndShapes_t
Definition: problem.hh:36
ConfigurationIn_t
hpp::core::ConfigurationIn_t ConfigurationIn_t
Definition: problem.hh:37
DistancePtr_t
hpp::core::DistancePtr_t DistancePtr_t
Definition: problem.hh:44
ConfigValidationsPtr_t
hpp::core::ConfigValidationsPtr_t ConfigValidationsPtr_t
Definition: problem.hh:40
JointAndShape_t
hpp::constraints::JointAndShape_t JointAndShape_t
Definition: problem.hh:35
SteeringMethodPtr_t
hpp::core::SteeringMethodPtr_t SteeringMethodPtr_t
Definition: problem.hh:39
ConfigurationShooterPtr_t
hpp::core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: problem.hh:38
PathProjectorPtr_t
hpp::core::PathProjectorPtr_t PathProjectorPtr_t
Definition: problem.hh:42
hpp::core::Container
pyhpp::manipulation::Problem::checkProblem
virtual void checkProblem() const
pyhpp::manipulation::Problem::fullSteeringMethod
void fullSteeringMethod(const pyhpp::core::PyWSteeringMethodPtr_t &steeringMethod)
Definition: problem.cc:95
pyhpp::manipulation::Problem::graph_
PyWGraphPtr_t graph_
Definition: problem.hh:52
pyhpp::manipulation::Problem::steeringMethod
pyhpp::core::PyWSteeringMethodPtr_t steeringMethod() const
pyhpp::manipulation::Problem::constraintGraph
void constraintGraph(const PyWGraphPtr_t &graph)
Definition: problem.cc:64
pyhpp::manipulation::Problem::jointAndShapes
hpp::core::Container< JointAndShapes_t > jointAndShapes
Definition: problem.hh:51