hpp-core: include/hpp/core/visibility-prm-planner.hh Source File

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

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visibility-prm-planner.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Mylene Campana
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
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29
30#ifndef HPP_CORE_VISIBILITY_PRM_PLANNER_HH
31#define HPP_CORE_VISIBILITY_PRM_PLANNER_HH
32
33#include <hpp/core/path-planner.hh>
34#include <tuple>
35
36namespace hpp {
37namespace core {
40
44 class HPP_CORE_DLLAPI VisibilityPrmPlanner : public PathPlanner {
45 public:
47 static VisibilityPrmPlannerPtr_t createWithRoadmap(
48 const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
50 static VisibilityPrmPlannerPtr_t create(const ProblemConstPtr_t& problem);
52 virtual void oneStep();
53
54 protected:
56 VisibilityPrmPlanner(const ProblemConstPtr_t& problem,
57 const RoadmapPtr_t& roadmap);
59 VisibilityPrmPlanner(const ProblemConstPtr_t& problem);
61 void init(const VisibilityPrmPlannerWkPtr_t& weak);
62
63 private:
64 typedef std::tuple<NodePtr_t, Configuration_t, PathPtr_t> DelayedEdge_t;
65 typedef std::vector<DelayedEdge_t> DelayedEdges_t;
66 VisibilityPrmPlannerWkPtr_t weakPtr_;
67 DelayedEdges_t delayedEdges_;
68 std::map<NodePtr_t, bool> nodeStatus_; // true for guard node
69
72 bool visibleFromCC(const Configuration_t q, const ConnectedComponentPtr_t cc);
73
76 void applyConstraints(const Configuration_t& qFrom,
77 const Configuration_t& qTo, Configuration_t& qOut);
78
79 bool constrApply_; // True if applyConstraints has successed
80};
82} // namespace core
83} // namespace hpp
84#endif // HPP_CORE_VISIBILITY_PRM_PLANNER_HH
hpp::core::PathPlanner
Definition path-planner.hh:45
hpp::core::VisibilityPrmPlanner
Definition visibility-prm-planner.hh:44
hpp::core::VisibilityPrmPlanner::createWithRoadmap
static VisibilityPrmPlannerPtr_t createWithRoadmap(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Return shared pointer to new object.
hpp::core::VisibilityPrmPlanner::create
static VisibilityPrmPlannerPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner
VisibilityPrmPlanner(const ProblemConstPtr_t &problem)
Constructor with roadmap.
hpp::core::VisibilityPrmPlanner::init
void init(const VisibilityPrmPlannerWkPtr_t &weak)
Store weak pointer to itself.
hpp::core::VisibilityPrmPlanner::VisibilityPrmPlanner
VisibilityPrmPlanner(const ProblemConstPtr_t &problem, const RoadmapPtr_t &roadmap)
Constructor.
hpp::core::VisibilityPrmPlanner::oneStep
virtual void oneStep()
One step of extension.
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
hpp::core::VisibilityPrmPlannerPtr_t
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition fwd.hh:224
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition fwd.hh:117
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
path-planner.hh