hpp-core: include/hpp/core/plan-and-optimize.hh Source File

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

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plan-and-optimize.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
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29
30#ifndef HPP_CORE_PLAN_AND_OPTIMIZE_HH
31#define HPP_CORE_PLAN_AND_OPTIMIZE_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/path-planner.hh>
35#include <vector>
36
37namespace hpp {
38namespace core {
41
46 class HPP_CORE_DLLAPI PlanAndOptimize : public PathPlanner {
47 public:
49 static PlanAndOptimizePtr_t create(const PathPlannerPtr_t& pathPlanner);
51 virtual void startSolve();
53 virtual void oneStep();
55 virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t& path);
56 void addPathOptimizer(const PathOptimizerPtr_t& optimizer);
57
58 protected:
59 PlanAndOptimize(const PathPlannerPtr_t& pathPlanner);
60
61 private:
62 typedef std::vector<PathOptimizerPtr_t> Optimizers_t;
63 const PathPlannerPtr_t pathPlanner_;
64 Optimizers_t optimizers_;
65}; // class PlanAndOptimize
67} // namespace core
68} // namespace hpp
69
70#endif // HPP_CORE_PLAN_AND_OPTIMIZE_HH
hpp::core::PathPlanner
Definition path-planner.hh:45
hpp::core::PlanAndOptimize
Definition plan-and-optimize.hh:46
hpp::core::PlanAndOptimize::oneStep
virtual void oneStep()
One iteration of path planning or path optimization.
hpp::core::PlanAndOptimize::create
static PlanAndOptimizePtr_t create(const PathPlannerPtr_t &pathPlanner)
Return shared pointer to new object.
hpp::core::PlanAndOptimize::startSolve
virtual void startSolve()
Call internal path planner implementation.
hpp::core::PlanAndOptimize::finishSolve
virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t &path)
Optimize planned path.
hpp::core::PlanAndOptimize::addPathOptimizer
void addPathOptimizer(const PathOptimizerPtr_t &optimizer)
hpp::core::PlanAndOptimize::PlanAndOptimize
PlanAndOptimize(const PathPlannerPtr_t &pathPlanner)
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::PathOptimizerPtr_t
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition fwd.hh:190
hpp::core::PlanAndOptimizePtr_t
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition fwd.hh:195
hpp::core::PathPlannerPtr_t
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition fwd.hh:191
path-planner.hh