hpp-core: include/hpp/core/path-planner/search-in-roadmap.hh Source File

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

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search-in-roadmap.hh
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1//
2// Copyright (c) 2024 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
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20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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29
30#ifndef HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
31#define HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
32
33#include <hpp/core/path-planner.hh>
34#include <hpp/core/path-planning-failed.hh>
35
36namespace hpp {
37namespace core {
38namespace pathPlanner {
39HPP_PREDEF_CLASS(SearchInRoadmap);
40 typedef shared_ptr<SearchInRoadmap> SearchInRoadmapPtr_t;
43
55 class SearchInRoadmap : public PathPlanner {
56 public:
57 static SearchInRoadmapPtr_t createWithRoadmap(
58 const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) {
59 return SearchInRoadmapPtr_t(new SearchInRoadmap(problem, roadmap));
60 }
62 virtual void tryConnectInitAndGoals() {}
64 virtual void oneStep() {
65 throw path_planning_failed(
66 "SearchInRoadmap: no goal configuration in the connected component"
67 "of initial configuration.");
68 }
69
70 protected:
71 SearchInRoadmap(const ProblemConstPtr_t& problem)
72 : core::PathPlanner(problem) {}
73 SearchInRoadmap(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap)
74 : PathPlanner(problem, roadmap) {}
75};
76
78
79} // namespace pathPlanner
80} // namespace core
81} // namespace hpp
82
83#endif // HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
hpp::core::PathPlanner
Definition path-planner.hh:45
hpp::core::PathPlanner::problem
ProblemConstPtr_t problem() const
Get problem.
hpp::core::PathPlanner::roadmap
virtual const RoadmapPtr_t & roadmap() const
Get roadmap.
hpp::core::pathPlanner::SearchInRoadmap
Definition search-in-roadmap.hh:55
hpp::core::pathPlanner::SearchInRoadmap::oneStep
virtual void oneStep()
This methods does nothing.
Definition search-in-roadmap.hh:64
hpp::core::pathPlanner::SearchInRoadmap::tryConnectInitAndGoals
virtual void tryConnectInitAndGoals()
This methods does nothing.
Definition search-in-roadmap.hh:62
hpp::core::pathPlanner::SearchInRoadmap::createWithRoadmap
static SearchInRoadmapPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Definition search-in-roadmap.hh:57
hpp::core::pathPlanner::SearchInRoadmap::SearchInRoadmap
SearchInRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Definition search-in-roadmap.hh:73
hpp::core::pathPlanner::SearchInRoadmap::SearchInRoadmap
SearchInRoadmap(const ProblemConstPtr_t &problem)
Definition search-in-roadmap.hh:71
hpp
hpp::core::pathPlanner::SearchInRoadmapPtr_t
shared_ptr< SearchInRoadmap > SearchInRoadmapPtr_t
Definition search-in-roadmap.hh:40
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
path-planner.hh
path-planning-failed.hh
hpp::core::path_planning_failed
Definition path-planning-failed.hh:36