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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_PROBLEM_HH |
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#define HPP_MANIPULATION_PROBLEM_HH |
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#include <hpp/core/problem-solver.hh> // PathValidationBuilder_t |
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#include <hpp/core/problem.hh> |
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#include <hpp/manipulation/device.hh> |
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#include <hpp/manipulation/fwd.hh> |
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#include <hpp/manipulation/graph/fwd.hh> |
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namespace hpp { |
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namespace manipulation { |
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/// \addtogroup path_planning |
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/// \{ |
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class HPP_MANIPULATION_DLLAPI Problem : public core::Problem { |
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public: |
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typedef core::Problem Parent; |
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/// Constructor |
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static ProblemPtr_t create(DevicePtr_t robot); |
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/// Set the graph of constraints |
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void constraintGraph(const graph::GraphPtr_t& graph); |
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/// Get the graph of constraints |
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graph::GraphPtr_t constraintGraph() const { return graph_; } |
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/// Check whether the problem is well formulated. |
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virtual void checkProblem() const; |
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/// Expose parent method. |
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PathValidationPtr_t pathValidation() const; |
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/// \param pathValidation if of type GraphPathValidation, sets |
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/// its constraint graph to Problem::constraintGraph() |
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void pathValidation(const PathValidationPtr_t& pathValidation); |
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/// Get the steering method as a SteeringMethod |
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SteeringMethodPtr_t manipulationSteeringMethod() const; |
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/// Build a new path validation |
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/// \note Current obstacles are added to the created object. |
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/// \todo Keep a pointer to this value to update it when a new obstacle |
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/// is added. |
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PathValidationPtr_t pathValidationFactory() const; |
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void setPathValidationFactory(const core::PathValidationBuilder_t& factory, |
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const value_type& tol); |
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protected: |
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/// Constructor |
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Problem(DevicePtr_t robot); |
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void init(ProblemWkPtr_t wkPtr); |
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private: |
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ProblemWkPtr_t wkPtr_; |
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/// The graph of constraints |
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graph::GraphPtr_t graph_; |
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core::PathValidationBuilder_t pvFactory_; |
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value_type pvTol_; |
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}; // class Problem |
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/// \} |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_PROBLEM_HH |
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