end-effector-trajectory.hh

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// Copyright (c) 2019 CNRS
// Authors: Joseph Mirabel
//
 
// 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.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// DAMAGE.
 
#ifndef HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
#define HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
 
#include <hpp/core/path-planner.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/pinocchio/frame.hh>
#include <pinocchio/spatial/se3.hpp>
 
namespace hpp {
namespace manipulation {
namespace pathPlanner {
class HPP_MANIPULATION_DLLAPI IkSolverInitialization {
 public:
  typedef std::vector<Configuration_t> Configurations_t;
 
  Configurations_t solve(vectorIn_t target) { return impl_solve(target); }
 
 protected:
  virtual Configurations_t impl_solve(vectorIn_t target) = 0;
};
typedef shared_ptr<IkSolverInitialization> IkSolverInitializationPtr_t;
 
HPP_PREDEF_CLASS(EndEffectorTrajectory);
typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
 
 
class HPP_MANIPULATION_DLLAPI EndEffectorTrajectory : public core::PathPlanner {
 public:
  static EndEffectorTrajectoryPtr_t create(
      const core::ProblemConstPtr_t& problem);
  static EndEffectorTrajectoryPtr_t createWithRoadmap(
      const core::ProblemConstPtr_t& problem,
      const core::RoadmapPtr_t& roadmap);
 
  virtual void startSolve();
 
  virtual void oneStep();
 
  int nRandomConfig() const { return nRandomConfig_; }
 
  void nRandomConfig(int n) {
    assert(n >= 0);
    nRandomConfig_ = n;
  }
 
  int nDiscreteSteps() const { return nDiscreteSteps_; }
 
  void nDiscreteSteps(int n) {
    assert(n > 0);
    nDiscreteSteps_ = n;
  }
 
  void checkFeasibilityOnly(bool enable);
 
  bool checkFeasibilityOnly() const { return feasibilityOnly_; }
 
  void ikSolverInitialization(IkSolverInitializationPtr_t solver) {
    ikSolverInit_ = solver;
  }
 
  void tryConnectInitAndGoals();
 
 protected:
  EndEffectorTrajectory(const core::ProblemConstPtr_t& problem);
  EndEffectorTrajectory(const core::ProblemConstPtr_t& problem,
                        const core::RoadmapPtr_t& roadmap);
  void init(const EndEffectorTrajectoryWkPtr_t& weak);
 
 private:
  std::vector<core::Configuration_t> configurations(
      const core::Configuration_t& q_init);
 
  EndEffectorTrajectoryWkPtr_t weak_;
  int nRandomConfig_;
  int nDiscreteSteps_;
  IkSolverInitializationPtr_t ikSolverInit_;
  bool feasibilityOnly_;
};  // class EndEffectorTrajectory
// \}
}  // namespace pathPlanner
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH