31 #ifndef HPP_CORE_PROBLEM_HH
32 #define HPP_CORE_PROBLEM_HH
38 #include <hpp/pinocchio/device.hh>
39 #include <hpp/util/pointer.hh>
114 steeringMethod_ = sm;
115 if (constraints_) steeringMethod_->constraints(constraints_);
134 configValidations_ = configValidations;
138 return configValidations_;
148 void clearConfigValidations();
170 return configurationShooter_;
178 pathProjector_ = pathProjector;
193 constraints_ = constraints;
194 if (steeringMethod_) steeringMethod_->constraints(constraints);
248 if (parameters.has(name))
249 return parameters.get(name);
251 return parameterDescription(name).defaultValue();
280 const std::string& name);
290 void init(ProblemWkPtr_t wkPtr);
293 ProblemWkPtr_t wkPtr_;
321 #define HPP_START_PARAMETER_DECLARATION(name) \
322 struct HPP_CORE_DLLAPI __InitializerClass_##name { \
323 __InitializerClass_##name() {
324 #define HPP_END_PARAMETER_DECLARATION(name) \
329 __InitializerClass_##name __instance_##name; \
Definition: parameter.hh:128
Definition: parameter.hh:63
Definition: problem.hh:57
const Parameter & getParameter(const std::string &name) const
Definition: problem.hh:247
void setSecurityMargins(const matrix_t &securityMatrix)
void configValidation(const ConfigValidationsPtr_t &configValidations)
Definition: problem.hh:133
void target(const ProblemTargetPtr_t &target)
Set the target.
Definition: problem.hh:85
PathProjectorPtr_t pathProjector() const
Get path projector method.
Definition: problem.hh:182
SteeringMethodPtr_t steeringMethod() const
Get steering method.
Definition: problem.hh:119
const ConfigurationPtr_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem.hh:81
virtual void checkProblem() const
Check that problem is well formulated.
void pathProjector(const PathProjectorPtr_t &pathProjector)
Definition: problem.hh:177
void steeringMethod(const SteeringMethodPtr_t &sm)
Definition: problem.hh:113
const ProblemTargetPtr_t & target() const
Get the target.
Definition: problem.hh:87
void distance(const DistancePtr_t &distance)
Set distance between configurations.
Definition: problem.hh:122
void filterCollisionPairs()
void configurationShooter(const ConfigurationShooterPtr_t &configurationShooter)
void resetConfigValidations() HPP_CORE_DEPRECATED
Container< Parameter > parameters
Definition: problem.hh:282
const Configurations_t goalConfigs() const
void init(ProblemWkPtr_t wkPtr)
void addGoalConfig(const ConfigurationPtr_t &config)
void setParameter(const std::string &name, const Parameter &value)
static void declareParameter(const ParameterDescription &desc)
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem.hh:198
void constraints(const ConstraintSetPtr_t &constraints)
Definition: problem.hh:192
static const ParameterDescription & parameterDescription(const std::string &name)
Access one parameter description.
const DevicePtr_t & robot() const
return shared pointer to robot.
Definition: problem.hh:78
static ProblemPtr_t create(DevicePtr_t robot)
ConfigurationShooterPtr_t configurationShooter() const
Get path validation method.
Definition: problem.hh:169
void removeObstacleFromJoint(const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void initConfig(const ConfigurationPtr_t &inConfig)
Set initial configuration.
Problem(DevicePtr_t robot)
void collisionObstacles(const ObjectStdVector_t &collisionObstacles)
Set the vector of objects considered for collision detection.
Problem(const Problem &other)=default
const ObjectStdVector_t & collisionObstacles() const
Vector of objects considered for collision detection.
const ConfigValidationsPtr_t & configValidations() const
Get configuration validation methods.
Definition: problem.hh:137
void addObstacle(const CollisionObjectPtr_t &object)
const DistancePtr_t & distance() const
Get distance between configuration.
Definition: problem.hh:124
static ProblemPtr_t createCopy(const ProblemConstPtr_t &other)
static const Container< ParameterDescription > & parameterDescriptions()
Get all the parameter descriptions.
#define HPP_CORE_DLLAPI
Definition: config.hh:64
#define HPP_CORE_DEPRECATED
Definition: deprecated.hh:37
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:183
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:306
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:140
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:109
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:112
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:322
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:191
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:115
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:195
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:212
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:150
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:108
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:114
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:133
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:129
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
pinocchio::matrix_t matrix_t
Definition: fwd.hh:161
Definition: bi-rrt-planner.hh:35
Definition: container.hh:76