hpp-core: include/hpp/core/bi-rrt-planner.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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bi-rrt-planner.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_BIRRT_PLANNER_HH
31#define HPP_CORE_BIRRT_PLANNER_HH
32
33#include <hpp/core/path-planner.hh>
34
35namespace hpp {
36 namespace core {
39
43 class HPP_CORE_DLLAPI BiRRTPlanner : public PathPlanner {
44 public:
46 static BiRRTPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t& problem,
47 const RoadmapPtr_t& roadmap);
49 static BiRRTPlannerPtr_t create(const ProblemConstPtr_t& problem);
51 virtual void startSolve();
53 virtual void oneStep();
54
55 protected:
57 BiRRTPlanner(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
59 BiRRTPlanner(const ProblemConstPtr_t& problem);
61 void init(const BiRRTPlannerWkPtr_t& weak);
62 PathPtr_t extendInternal(const SteeringMethodPtr_t& sm,
63 Configuration_t& qProj_, const NodePtr_t& near,
64 const Configuration_t& target, bool reverse = false);
65
66 ConfigurationShooterPtr_t configurationShooter_;
67 ConnectedComponentPtr_t startComponent_;
68 std::vector<ConnectedComponentPtr_t> endComponents_;
69
70 private:
71 mutable Configuration_t qProj_;
72 BiRRTPlannerWkPtr_t weakPtr_;
73};
75} // namespace core
76} // namespace hpp
77#endif // HPP_CORE_BIRRT_PLANNER_HH
hpp::core::BiRRTPlanner
Definition bi-rrt-planner.hh:43
hpp::core::BiRRTPlanner::create
static BiRRTPlannerPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
hpp::core::BiRRTPlanner::BiRRTPlanner
BiRRTPlanner(const ProblemConstPtr_t &problem)
Constructor with roadmap.
hpp::core::BiRRTPlanner::createWithRoadmap
static BiRRTPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
hpp::core::BiRRTPlanner::BiRRTPlanner
BiRRTPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Constructor.
hpp::core::BiRRTPlanner::endComponents_
std::vector< ConnectedComponentPtr_t > endComponents_
Definition bi-rrt-planner.hh:68
hpp::core::BiRRTPlanner::extendInternal
PathPtr_t extendInternal(const SteeringMethodPtr_t &sm, Configuration_t &qProj_, const NodePtr_t &near, const Configuration_t &target, bool reverse=false)
hpp::core::BiRRTPlanner::init
void init(const BiRRTPlannerWkPtr_t &weak)
Store weak pointer to itself.
hpp::core::BiRRTPlanner::startComponent_
ConnectedComponentPtr_t startComponent_
Definition bi-rrt-planner.hh:67
hpp::core::BiRRTPlanner::oneStep
virtual void oneStep()
One step of extension.
hpp::core::BiRRTPlanner::configurationShooter_
ConfigurationShooterPtr_t configurationShooter_
Definition bi-rrt-planner.hh:66
hpp::core::BiRRTPlanner::startSolve
virtual void startSolve()
One step of extension.
hpp::core::Node
Definition node.hh:46
hpp::core::PathPlanner
Definition path-planner.hh:45
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::BiRRTPlannerPtr_t
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition fwd.hh:92
hpp::core::ConfigurationShooterPtr_t
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition fwd.hh:113
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition fwd.hh:213
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition fwd.hh:117
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
path-planner.hh