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

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

Loading...
Searching...
No Matches
task-target.hh
Go to the documentation of this file.
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
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_PROBLEM_TARGET_TASK_TARGET_HH
31#define HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35#include <hpp/core/problem-target.hh>
36
37namespace hpp {
38namespace core {
39namespace problemTarget {
42
50 class HPP_CORE_DLLAPI TaskTarget : public ProblemTarget {
51 public:
52 static TaskTargetPtr_t create(const ProblemPtr_t& problem);
53
55 void check(const RoadmapPtr_t& roadmap) const;
56
58 bool reached(const RoadmapPtr_t& roadmap) const;
59
60 PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const;
61
62 void constraints(const ConstraintSetPtr_t& c) { constraints_ = c; }
63
65 NumericalConstraints_t constraints() const;
66
67 protected:
69 TaskTarget(const ProblemPtr_t& problem) : ProblemTarget(problem) {}
70
71 private:
72 ConstraintSetPtr_t constraints_;
73}; // class TaskTarget
75} // namespace problemTarget
76} // namespace core
77} // namespace hpp
78#endif // HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH
hpp::core::ProblemTarget
Definition problem-target.hh:45
hpp::core::problemTarget::TaskTarget
Definition task-target.hh:50
hpp::core::problemTarget::TaskTarget::create
static TaskTargetPtr_t create(const ProblemPtr_t &problem)
hpp::core::problemTarget::TaskTarget::check
void check(const RoadmapPtr_t &roadmap) const
Check if the problem target is well specified.
hpp::core::problemTarget::TaskTarget::constraints
void constraints(const ConstraintSetPtr_t &c)
Definition task-target.hh:62
hpp::core::problemTarget::TaskTarget::computePath
PathVectorPtr_t computePath(const RoadmapPtr_t &roadmap) const
hpp::core::problemTarget::TaskTarget::constraints
NumericalConstraints_t constraints() const
Return the vector of numerical constraints that define the goal.
hpp::core::problemTarget::TaskTarget::reached
bool reached(const RoadmapPtr_t &roadmap) const
Check whether the problem is solved.
hpp::core::problemTarget::TaskTarget::TaskTarget
TaskTarget(const ProblemPtr_t &problem)
Constructor.
Definition task-target.hh:69
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::problemTarget::TaskTargetPtr_t
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition fwd.hh:361
hpp::core::NumericalConstraints_t
constraints::NumericalConstraints_t NumericalConstraints_t
Definition fwd.hh:232
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
hpp::core::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition fwd.hh:130
problem-target.hh