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

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

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goal-configurations.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,
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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_GOAL_CONFIGURATIONS_HH
31#define HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_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
46 class HPP_CORE_DLLAPI GoalConfigurations : public ProblemTarget {
47 public:
48 static GoalConfigurationsPtr_t create(const ProblemPtr_t& problem);
49
51 void check(const RoadmapPtr_t& roadmap) const;
52
59 bool reached(const RoadmapPtr_t& roadmap) const;
60
61 PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const;
63 const Configurations_t& configurations() const;
65 void addConfiguration(ConfigurationIn_t config);
67 void resetConfigurations();
68
69 protected:
71 GoalConfigurations(const ProblemPtr_t& problem) : ProblemTarget(problem) {}
72
73 private:
75 Configurations_t configurations_;
76
77}; // class GoalConfigurations
79} // namespace problemTarget
80} // namespace core
81} // namespace hpp
82#endif // HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_HH
hpp::core::ProblemTarget
Definition problem-target.hh:45
hpp::core::problemTarget::GoalConfigurations
Definition goal-configurations.hh:46
hpp::core::problemTarget::GoalConfigurations::addConfiguration
void addConfiguration(ConfigurationIn_t config)
Add goal configuration.
hpp::core::problemTarget::GoalConfigurations::computePath
PathVectorPtr_t computePath(const RoadmapPtr_t &roadmap) const
hpp::core::problemTarget::GoalConfigurations::resetConfigurations
void resetConfigurations()
Reset the set of goal configurations.
hpp::core::problemTarget::GoalConfigurations::GoalConfigurations
GoalConfigurations(const ProblemPtr_t &problem)
Constructor.
Definition goal-configurations.hh:71
hpp::core::problemTarget::GoalConfigurations::check
void check(const RoadmapPtr_t &roadmap) const
Check if the problem target is well specified.
hpp::core::problemTarget::GoalConfigurations::reached
bool reached(const RoadmapPtr_t &roadmap) const
hpp::core::problemTarget::GoalConfigurations::configurations
const Configurations_t & configurations() const
Get goal configurations.
hpp::core::problemTarget::GoalConfigurations::create
static GoalConfigurationsPtr_t create(const ProblemPtr_t &problem)
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::problemTarget::GoalConfigurationsPtr_t
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition fwd.hh:360
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::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::Configurations_t
std::vector< Configuration_t > Configurations_t
Definition fwd.hh:110
problem-target.hh