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// Copyright (c) 2014, LAAS-CNRS |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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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_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH |
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#define HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH |
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#include "hpp/manipulation/fwd.hh" |
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#include "hpp/manipulation/graph/fwd.hh" |
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#include "hpp/manipulation/graph/state-selector.hh" |
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namespace hpp { |
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namespace manipulation { |
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namespace graph { |
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class HPP_MANIPULATION_DLLAPI GuidedStateSelector : public StateSelector { |
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public: |
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/// Create a new GuidedStateSelector. |
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static GuidedStateSelectorPtr_t create(const std::string& name, |
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const core::RoadmapPtr_t& roadmap); |
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/// Set the target |
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void setStateList(const States_t& stateList); |
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/// Select randomly an outgoing edge of the given node. |
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virtual EdgePtr_t chooseEdge(RoadmapNodePtr_t from) const; |
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/// Print the object in a stream. |
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std::ostream& dotPrint(std::ostream& os, dot::DrawingAttributes da = |
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dot::DrawingAttributes()) const; |
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protected: |
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/// Initialization of the object. |
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void init(const GuidedStateSelectorPtr_t& weak); |
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/// Constructor |
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GuidedStateSelector(const std::string& name, const core::RoadmapPtr_t roadmap) |
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: StateSelector(name), roadmap_(roadmap) {} |
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/// Print the object in a stream. |
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std::ostream& print(std::ostream& os) const; |
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private: |
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/// The target |
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States_t stateList_; |
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/// The roadmap |
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core::RoadmapPtr_t roadmap_; |
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/// Weak pointer to itself. |
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GuidedStateSelectorWkPtr_t wkPtr_; |
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}; // Class StateSelector |
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} // namespace graph |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_GRAPH_GUIDED_STATE_SELECTOR_HH |
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