| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// |
| 2 |
|
|
// Copyright (c) 2016 CNRS |
| 3 |
|
|
// Authors: Joseph Mirabel |
| 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 |
| 27 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
| 28 |
|
|
// DAMAGE. |
| 29 |
|
|
|
| 30 |
|
|
#ifndef HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_HH |
| 31 |
|
|
#define HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_HH |
| 32 |
|
|
|
| 33 |
|
|
#include <hpp/core/config.hh> |
| 34 |
|
|
#include <hpp/core/fwd.hh> |
| 35 |
|
|
#include <hpp/core/problem-target.hh> |
| 36 |
|
|
|
| 37 |
|
|
namespace hpp { |
| 38 |
|
|
namespace core { |
| 39 |
|
|
namespace problemTarget { |
| 40 |
|
|
/// \addtogroup path_planning |
| 41 |
|
|
/// \{ |
| 42 |
|
|
|
| 43 |
|
|
/// Goal configurations |
| 44 |
|
|
/// |
| 45 |
|
|
/// This class defines a goal as a list of goal configurations. |
| 46 |
|
|
class HPP_CORE_DLLAPI GoalConfigurations : public ProblemTarget { |
| 47 |
|
|
public: |
| 48 |
|
|
static GoalConfigurationsPtr_t create(const ProblemPtr_t& problem); |
| 49 |
|
|
|
| 50 |
|
|
/// Check if the problem target is well specified. |
| 51 |
|
|
void check(const RoadmapPtr_t& roadmap) const; |
| 52 |
|
|
|
| 53 |
|
|
/// Check if the initial configuration and one of the goal are |
| 54 |
|
|
/// in the same connected component. |
| 55 |
|
|
/// \note This test takes into account nodes of the roadmap that |
| 56 |
|
|
/// are tagged as goal nodes, not the configurations stored |
| 57 |
|
|
/// in this class. Be careful that those two sets are the |
| 58 |
|
|
/// same. |
| 59 |
|
|
bool reached(const RoadmapPtr_t& roadmap) const; |
| 60 |
|
|
|
| 61 |
|
|
PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const; |
| 62 |
|
|
/// Get goal configurations. |
| 63 |
|
|
const Configurations_t& configurations() const; |
| 64 |
|
|
/// Add goal configuration. |
| 65 |
|
|
void addConfiguration(ConfigurationIn_t config); |
| 66 |
|
|
/// Reset the set of goal configurations |
| 67 |
|
|
void resetConfigurations(); |
| 68 |
|
|
|
| 69 |
|
|
protected: |
| 70 |
|
|
/// Constructor |
| 71 |
|
62 |
GoalConfigurations(const ProblemPtr_t& problem) : ProblemTarget(problem) {} |
| 72 |
|
|
|
| 73 |
|
|
private: |
| 74 |
|
|
/// Shared pointer to goal configuration. |
| 75 |
|
|
Configurations_t configurations_; |
| 76 |
|
|
|
| 77 |
|
|
}; // class GoalConfigurations |
| 78 |
|
|
/// \} |
| 79 |
|
|
} // namespace problemTarget |
| 80 |
|
|
} // namespace core |
| 81 |
|
|
} // namespace hpp |
| 82 |
|
|
#endif // HPP_CORE_PROBLEM_TARGET_GOAL_CONFIGURATIONS_HH |
| 83 |
|
|
|