hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
heuristic.hh
Go to the documentation of this file.
1
//
2
// Copyright (c) 2014 CNRS
3
// Authors: Steve Tonneau (steve.tonneau@laas.fr)
4
//
5
// This file is part of hpp-rbprm.
6
// hpp-rbprm is free software: you can redistribute it
7
// and/or modify it under the terms of the GNU Lesser General Public
8
// License as published by the Free Software Foundation, either version
9
// 3 of the License, or (at your option) any later version.
10
//
11
// hpp-rbprm is distributed in the hope that it will be
12
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14
// General Lesser Public License for more details. You should have
15
// received a copy of the GNU Lesser General Public License along with
16
// hpp-core If not, see
17
// <http://www.gnu.org/licenses/>.
18
19
#ifndef HPP_HEURISTIC_HH
20
# define HPP_HEURISTIC_HH
21
22
#include <
hpp/rbprm/sampling/sample.hh
>
23
24
#include <map>
25
26
27
namespace
hpp
{
28
29
namespace
rbprm {
30
namespace
sampling{
31
32
struct
HeuristicParam;
33
34
41
typedef
double (*
heuristic
) (
const
sampling::Sample
& sample,
42
const
Eigen::Vector3d& direction,
const
Eigen::Vector3d& normal,
const
HeuristicParam
& params);
43
47
struct
HPP_RBPRM_DLLAPI
HeuristicFactory
48
{
49
HeuristicFactory
();
50
~
HeuristicFactory
();
51
52
bool
AddHeuristic(
const
std::string& name,
const
heuristic
func);
53
std::map<std::string, const heuristic>
heuristics_
;
54
};
55
56
}
// namespace sampling
57
}
// namespace rbprm
58
}
// namespace hpp
59
#endif // HPP_HEURISTIC_HH
hpp::rbprm::sampling::HeuristicParam
Defines a parameters set for the ZMP-based heuristic.
Definition:
heuristic-tools.hh:13
hpp::rbprm::sampling::Sample
Definition:
sample.hh:40
hpp::rbprm::sampling::HeuristicFactory
Definition:
heuristic.hh:47
hpp
Definition:
algorithm.hh:27
sample.hh
hpp::rbprm::sampling::heuristic
double(* heuristic)(const sampling::Sample &sample, const Eigen::Vector3d &direction, const Eigen::Vector3d &normal, const HeuristicParam ¶ms)
Definition:
heuristic.hh:41
hpp::rbprm::sampling::HeuristicFactory::heuristics_
std::map< std::string, const heuristic > heuristics_
Definition:
heuristic.hh:53
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition:
config.hh:64
include
hpp
rbprm
sampling
heuristic.hh
Generated by
1.8.17