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// Copyright (c) 2024 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH |
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#define HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH |
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#include <hpp/core/path-planner.hh> |
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#include <hpp/core/path-planning-failed.hh> |
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namespace hpp { |
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namespace core { |
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namespace pathPlanner { |
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HPP_PREDEF_CLASS(SearchInRoadmap); |
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typedef shared_ptr<SearchInRoadmap> SearchInRoadmapPtr_t; |
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/// \addtogroup path_planning |
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/// \{ |
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/// Search in the roadmap without modifying it and without trying a direct |
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/// connection priorly |
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/// |
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/// This planner is especially useful in some applications where the roadmap is |
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/// constructed externally like in coverage planning. This planner will return a |
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/// path if one exists in the roadmap or throw otherwise. |
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/// |
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/// \note One shortcoming of this planner (as all other planners), if the |
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/// initial configuration is the same as a goal configuration, the planner will |
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/// return a path of length 0. This is not desirable in coverage planning |
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/// applications. |
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class SearchInRoadmap : public PathPlanner { |
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public: |
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static SearchInRoadmapPtr_t createWithRoadmap( |
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const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) { |
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return SearchInRoadmapPtr_t(new SearchInRoadmap(problem, roadmap)); |
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} |
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/// This methods does nothing |
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virtual void tryConnectInitAndGoals() {} |
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/// This methods does nothing |
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virtual void oneStep() { |
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throw path_planning_failed( |
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"SearchInRoadmap: no goal configuration in the connected component" |
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"of initial configuration."); |
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} |
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protected: |
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SearchInRoadmap(const ProblemConstPtr_t& problem) |
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: core::PathPlanner(problem) {} |
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SearchInRoadmap(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap) |
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: PathPlanner(problem, roadmap) {} |
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}; /// class SearchInRoadmap |
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/// \} |
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} // namespace pathPlanner |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_PATH_PLANNER_SEARCH_IN_ROADMAP_HH |
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