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// |
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// Copyright (c) 2016 CNRS |
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// Authors: Joseph Mirabel |
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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_PROBLEM_TARGET_TASK_TARGET_HH |
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#define HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/core/problem-target.hh> |
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namespace hpp { |
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namespace core { |
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namespace problemTarget { |
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/// \addtogroup path_planning |
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/// \{ |
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/// Task target |
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/// |
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/// This class defines a goal using constraints. The set of goal |
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/// configurations is a submanifold of the full configuration space. |
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/// \warning So far, this feature is not taken into account by |
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/// most planners. The supported planners are: |
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/// - DiffusingPlanner |
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class HPP_CORE_DLLAPI TaskTarget : public ProblemTarget { |
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public: |
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static TaskTargetPtr_t create(const ProblemPtr_t& problem); |
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/// Check if the problem target is well specified. |
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void check(const RoadmapPtr_t& roadmap) const; |
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/// Check whether the problem is solved. |
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bool reached(const RoadmapPtr_t& roadmap) const; |
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PathVectorPtr_t computePath(const RoadmapPtr_t& roadmap) const; |
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void constraints(const ConstraintSetPtr_t& c) { constraints_ = c; } |
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/// Return the vector of numerical constraints that define the goal. |
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NumericalConstraints_t constraints() const; |
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protected: |
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/// Constructor |
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TaskTarget(const ProblemPtr_t& problem) : ProblemTarget(problem) {} |
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private: |
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ConstraintSetPtr_t constraints_; |
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}; // class TaskTarget |
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/// \} |
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} // namespace problemTarget |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_PROBLEM_TARGET_TASK_TARGET_HH |
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