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

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

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path-planner.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
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28// DAMAGE.
29
30#ifndef HPP_CORE_PATH_PLANNER_HH
31#define HPP_CORE_PATH_PLANNER_HH
32
33#include <hpp/core/config.hh>
34#include <hpp/core/fwd.hh>
35
36namespace hpp {
37namespace core {
40
45 class HPP_CORE_DLLAPI PathPlanner {
46 public:
47 virtual ~PathPlanner();
48
50 virtual const RoadmapPtr_t& roadmap() const;
52 ProblemConstPtr_t problem() const;
56 virtual void startSolve();
65 virtual PathVectorPtr_t solve();
67 virtual void tryConnectInitAndGoals();
68
70 virtual void oneStep() = 0;
72 virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t& path);
74 void interrupt();
76 void maxIterations(const unsigned long int& n);
78 unsigned long int maxIterations() const { return maxIterations_; }
80 void timeOut(const double& timeOut);
82 double timeOut() const { return timeOut_; }
87 void stopWhenProblemIsSolved(bool enable);
88
90 PathVectorPtr_t computePath() const;
91
92 protected:
96 PathPlanner(const ProblemConstPtr_t& problem);
100 PathPlanner(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
102 void init(const PathPlannerWkPtr_t& weak);
103
104 private:
106 const ProblemConstWkPtr_t problem_;
108 const RoadmapPtr_t roadmap_;
109 bool interrupt_;
112 unsigned long int maxIterations_;
114 double timeOut_;
116 bool stopWhenProblemIsSolved_;
117
119 PathPlannerWkPtr_t weakPtr_;
120}; // class PathPlanner
122} // namespace core
123} // namespace hpp
124#endif // HPP_CORE_PATH_PLANNER_HH
hpp::core::PathPlanner
Definition path-planner.hh:45
hpp::core::PathPlanner::~PathPlanner
virtual ~PathPlanner()
hpp::core::PathPlanner::maxIterations
unsigned long int maxIterations() const
Get maximal number of iterations.
Definition path-planner.hh:78
hpp::core::PathPlanner::PathPlanner
PathPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
hpp::core::PathPlanner::oneStep
virtual void oneStep()=0
User implementation of one step of resolution.
hpp::core::PathPlanner::stopWhenProblemIsSolved
void stopWhenProblemIsSolved(bool enable)
hpp::core::PathPlanner::PathPlanner
PathPlanner(const ProblemConstPtr_t &problem)
hpp::core::PathPlanner::finishSolve
virtual PathVectorPtr_t finishSolve(const PathVectorPtr_t &path)
Post processing of the resulting path.
hpp::core::PathPlanner::solve
virtual PathVectorPtr_t solve()
hpp::core::PathPlanner::timeOut
void timeOut(const double &timeOut)
set time out (in seconds)
hpp::core::PathPlanner::tryConnectInitAndGoals
virtual void tryConnectInitAndGoals()
Try to connect initial and goal configurations to existing roadmap.
hpp::core::PathPlanner::timeOut
double timeOut() const
Get time out.
Definition path-planner.hh:82
hpp::core::PathPlanner::init
void init(const PathPlannerWkPtr_t &weak)
Store weak pointer to itself.
hpp::core::PathPlanner::maxIterations
void maxIterations(const unsigned long int &n)
Set maximal number of iterations.
hpp::core::PathPlanner::problem
ProblemConstPtr_t problem() const
Get problem.
hpp::core::PathPlanner::computePath
PathVectorPtr_t computePath() const
Find a path in the roadmap and transform it in trajectory.
hpp::core::PathPlanner::startSolve
virtual void startSolve()
hpp::core::PathPlanner::roadmap
virtual const RoadmapPtr_t & roadmap() const
Get roadmap.
hpp::core::PathPlanner::interrupt
void interrupt()
Interrupt path planning.
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
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::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197