hpp-core: include/hpp/core/path-optimizer.hh Source File

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

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path-optimizer.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_PATH_OPTIMIZER_HH
31#define HPP_CORE_PATH_OPTIMIZER_HH
32
33#include <boost/date_time/posix_time/ptime.hpp>
34#include <hpp/core/config.hh>
35#include <hpp/core/fwd.hh>
36
37namespace hpp {
38namespace core {
41
44 class HPP_CORE_DLLAPI PathOptimizer {
45 public:
46 virtual ~PathOptimizer() {};
47
49 ProblemConstPtr_t problem() const { return problem_; }
50
52 virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path) = 0;
53
55 void interrupt() { interrupt_ = true; }
57 void maxIterations(const unsigned long int& n);
59 void timeOut(const double& timeOut);
60
61 protected:
65 bool interrupt_;
66
67 PathOptimizer(const ProblemConstPtr_t& problem);
68
69 PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
70
71 void monitorExecution();
72
73 void endIteration() { ++monitor_.iteration; }
74
75 bool shouldStop() const;
76
77 void initFromParameters();
78
79 private:
80 ProblemConstPtr_t problem_;
81
84 size_type maxIterations_;
86 double timeOut_;
87
93 struct {
94 bool enabled;
95 size_type iteration;
96 boost::posix_time::ptime timeStart;
97 } monitor_;
98}; // class PathOptimizer;
100} // namespace core
101} // namespace hpp
102#endif // HPP_CORE_PATH_OPTIMIZER_HH
hpp::core::PathOptimizer
Definition path-optimizer.hh:44
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp::core::PathOptimizer::optimize
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)=0
Optimize path.
hpp::core::PathOptimizer::iteration
size_type iteration
Definition path-optimizer.hh:95
hpp::core::PathOptimizer::problem
ProblemConstPtr_t problem() const
Get problem.
Definition path-optimizer.hh:49
hpp::core::PathOptimizer::timeStart
boost::posix_time::ptime timeStart
Definition path-optimizer.hh:96
hpp::core::PathOptimizer::shouldStop
bool shouldStop() const
hpp::core::PathOptimizer::maxIterations
void maxIterations(const unsigned long int &n)
Set maximal number of iterations.
hpp::core::PathOptimizer::timeOut
void timeOut(const double &timeOut)
set time out (in seconds)
hpp::core::PathOptimizer::endIteration
void endIteration()
Definition path-optimizer.hh:73
hpp::core::PathOptimizer::initFromParameters
void initFromParameters()
hpp::core::PathOptimizer::PathOptimizer
PathOptimizer(const ProblemConstPtr_t &problem)
hpp::core::PathOptimizer::interrupt_
bool interrupt_
Definition path-optimizer.hh:65
hpp::core::PathOptimizer::interrupt
void interrupt()
Interrupt path optimization.
Definition path-optimizer.hh:55
hpp::core::PathOptimizer::monitorExecution
void monitorExecution()
hpp::core::PathOptimizer::~PathOptimizer
virtual ~PathOptimizer()
Definition path-optimizer.hh:46
hpp::core::PathOptimizer::steer
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
hpp::core::PathOptimizer::enabled
bool enabled
Definition path-optimizer.hh:94
hpp
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187