steering-method.hh

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// problem.hh
//
// Copyright (c) 2025, CNRS
// Authors: Paul Sardin
//
// This file is part of hpp-python
// hpp-python is free software—you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-python is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Lesser General Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-python. If not, see <http://www.gnu.org/licenses/>.
 
#ifndef PYHPP_MANIPULATION_STEERING_METHOD_HH
#define PYHPP_MANIPULATION_STEERING_METHOD_HH
 
#include <hpp/constraints/differentiable-function.hh>
#include <hpp/core/path.hh>
#include <hpp/core/steering-method.hh>
#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
#include <hpp/manipulation/steering-method/graph.hh>
#include <pyhpp/core/problem.hh>
#include <pyhpp/core/steering-method.hh>
 
namespace pyhpp {
namespace manipulation {
 
using namespace boost::python;
typedef pyhpp::core::PyWSteeringMethodPtr_t PyWSteeringMethodPtr_t;
 
struct GraphSteeringMethod {
  hpp::manipulation::steeringMethod::GraphPtr_t obj;
  GraphSteeringMethod(const PyWSteeringMethodPtr_t& steeringMethodWrapper);
};
 
struct EndEffectorTrajectorySteeringMethod : pyhpp::core::SteeringMethod {
  hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t eetObj() const;
  EndEffectorTrajectorySteeringMethod(
      const hpp::core::ProblemConstPtr_t& problem);
  void setTrajectoryConstraint(const hpp::constraints::ImplicitPtr_t& ic);
  void setTrajectory(const hpp::core::PathPtr_t& eeTraj, bool se3Output);
};
}  // namespace manipulation
}  // namespace pyhpp
#endif  // PYHPP_MANIPULATION_STEERING_METHOD_HH