search-in-roadmap.hh

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//
// Copyright (c) 2024 CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
#define HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH
 
#include <hpp/core/path-planner.hh>
#include <hpp/core/path-planning-failed.hh>
 
namespace hpp {
namespace core {
namespace pathPlanner {
HPP_PREDEF_CLASS(SearchInRoadmap);
typedef shared_ptr<SearchInRoadmap> SearchInRoadmapPtr_t;
 
class SearchInRoadmap : public PathPlanner {
 public:
  static SearchInRoadmapPtr_t createWithRoadmap(
      const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) {
    return SearchInRoadmapPtr_t(new SearchInRoadmap(problem, roadmap));
  }
  virtual void tryConnectInitAndGoals() {}
  virtual void oneStep() {
    throw path_planning_failed(
        "SearchInRoadmap: no goal configuration in the connected component"
        "of initial configuration.");
  }
 
 protected:
  SearchInRoadmap(const ProblemConstPtr_t& problem)
      : core::PathPlanner(problem) {}
  SearchInRoadmap(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap)
      : PathPlanner(problem, roadmap) {}
};  
 
 
}  // namespace pathPlanner
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH