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_HH |
31 |
|
|
#define HPP_CORE_PROBLEM_TARGET_HH |
32 |
|
|
|
33 |
|
|
#include <hpp/core/config.hh> |
34 |
|
|
#include <hpp/core/fwd.hh> |
35 |
|
|
|
36 |
|
|
namespace hpp { |
37 |
|
|
namespace core { |
38 |
|
|
/// \addtogroup path_planning |
39 |
|
|
/// \{ |
40 |
|
|
|
41 |
|
|
/// Problem target |
42 |
|
|
/// |
43 |
|
|
/// This abstract class defines the goal to be reached by a planning |
44 |
|
|
/// algorithm. |
45 |
|
|
class HPP_CORE_DLLAPI ProblemTarget { |
46 |
|
|
public: |
47 |
|
102 |
virtual ~ProblemTarget() {}; |
48 |
|
|
|
49 |
|
|
/// Check if the problem target is well specified. |
50 |
|
|
virtual void check(const RoadmapPtr_t& roadmap) const = 0; |
51 |
|
|
|
52 |
|
|
/// Check whether the problem is solved. |
53 |
|
|
virtual bool reached(const RoadmapPtr_t& roadmap) const = 0; |
54 |
|
|
|
55 |
|
|
/// Returns the solution path found. |
56 |
|
|
/// Should be called when reached() returns true. |
57 |
|
|
virtual PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const = 0; |
58 |
|
|
|
59 |
|
|
/// Set the problem |
60 |
|
7 |
void problem(const ProblemPtr_t& problem) { problem_ = problem; } |
61 |
|
|
|
62 |
|
|
protected: |
63 |
|
|
/// Constructor |
64 |
|
62 |
ProblemTarget(const ProblemPtr_t& problem) : problem_(problem) {} |
65 |
|
|
|
66 |
|
|
/// Store weak pointer to itself |
67 |
|
62 |
void init(const ProblemTargetWkPtr_t& weak) { weakPtr_ = weak; } |
68 |
|
|
|
69 |
|
|
/// Reference to the planner for access to problem and roadmap |
70 |
|
|
ProblemWkPtr_t problem_; |
71 |
|
|
|
72 |
|
|
/// Store weak pointer to itself |
73 |
|
|
ProblemTargetWkPtr_t weakPtr_; |
74 |
|
|
|
75 |
|
|
private: |
76 |
|
|
}; // class ProblemTarget |
77 |
|
|
/// \} |
78 |
|
|
} // namespace core |
79 |
|
|
} // namespace hpp |
80 |
|
|
#endif // HPP_CORE_PROBLEM_TARGET_HH |
81 |
|
|
|