hpp-core: include/hpp/core/problem-target.hh Source File

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

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problem-target.hh
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1//
2// Copyright (c) 2016 CNRS
3// Authors: Joseph Mirabel
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
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28// DAMAGE.
29
30#ifndef HPP_CORE_PROBLEM_TARGET_HH
31#define HPP_CORE_PROBLEM_TARGET_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35
36namespace hpp {
37namespace core {
40
45 class HPP_CORE_DLLAPI ProblemTarget {
46 public:
47 virtual ~ProblemTarget() {};
48
50 virtual void check(const RoadmapPtr_t& roadmap) const = 0;
51
53 virtual bool reached(const RoadmapPtr_t& roadmap) const = 0;
54
57 virtual PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const = 0;
58
60 void problem(const ProblemPtr_t& problem) { problem_ = problem; }
61
62 protected:
64 ProblemTarget(const ProblemPtr_t& problem) : problem_(problem) {}
65
67 void init(const ProblemTargetWkPtr_t& weak) { weakPtr_ = weak; }
68
70 ProblemWkPtr_t problem_;
71
73 ProblemTargetWkPtr_t weakPtr_;
74
75 private:
76}; // class ProblemTarget
78} // namespace core
79} // namespace hpp
80#endif // HPP_CORE_PROBLEM_TARGET_HH
hpp::core::ProblemTarget
Definition problem-target.hh:45
hpp::core::ProblemTarget::ProblemTarget
ProblemTarget(const ProblemPtr_t &problem)
Constructor.
Definition problem-target.hh:64
hpp::core::ProblemTarget::reached
virtual bool reached(const RoadmapPtr_t &roadmap) const =0
Check whether the problem is solved.
hpp::core::ProblemTarget::init
void init(const ProblemTargetWkPtr_t &weak)
Store weak pointer to itself.
Definition problem-target.hh:67
hpp::core::ProblemTarget::~ProblemTarget
virtual ~ProblemTarget()
Definition problem-target.hh:47
hpp::core::ProblemTarget::problem_
ProblemWkPtr_t problem_
Reference to the planner for access to problem and roadmap.
Definition problem-target.hh:70
hpp::core::ProblemTarget::weakPtr_
ProblemTargetWkPtr_t weakPtr_
Store weak pointer to itself.
Definition problem-target.hh:73
hpp::core::ProblemTarget::computePath
virtual PathVectorPtr_t computePath(const RoadmapPtr_t &roadmap) const =0
hpp::core::ProblemTarget::check
virtual void check(const RoadmapPtr_t &roadmap) const =0
Check if the problem target is well specified.
hpp::core::ProblemTarget::problem
void problem(const ProblemPtr_t &problem)
Set the problem.
Definition problem-target.hh:60
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
hpp::core::ProblemPtr_t
shared_ptr< Problem > ProblemPtr_t
Definition fwd.hh:196