hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
heuristic.hh
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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 
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 
48  {
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 &params)
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