hpp::manipulation::GraphOptimizer Class Reference

Path optimizer for paths created with the constraint graph. More...

#include <hpp/manipulation/graph-optimizer.hh>

Inheritance diagram for hpp::manipulation::GraphOptimizer:

Collaboration diagram for hpp::manipulation::GraphOptimizer:

Public Types
typedef core::PathOptimizerBuilder_t	PathOptimizerBuilder_t

Public Member Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
const PathOptimizerPtr_t &	innerOptimizer ()
	Get the encapsulated optimizer. More...
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()
const Problem &	problem () const
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)=0
void	interrupt ()

Static Public Member Functions
template<typename TraitsOrInnerType >
static GraphOptimizerPtr_t	create (const core::Problem &problem)
	Member function definition. More...

Protected Member Functions
	GraphOptimizer (const core::Problem &problem, PathOptimizerBuilder_t factory)
	Constructor. More...
Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const Problem &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_

Detailed Description

Path optimizer for paths created with the constraint graph.

This class encapsulates another path optimizer class. This optimizer calls the inner optimizer on every subpaths with the same set of constraints.

Member Typedef Documentation

typedef core::PathOptimizerBuilder_t hpp::manipulation::GraphOptimizer::PathOptimizerBuilder_t

Constructor & Destructor Documentation

hpp::manipulation::GraphOptimizer::GraphOptimizer ( const core::Problem &  problem, PathOptimizerBuilder_t  factory  )

inlineprotected

Constructor.

References create().

Member Function Documentation

template<typename TraitsOrInnerType >

GraphOptimizerPtr_t hpp::manipulation::GraphOptimizer::create ( const core::Problem &  problem )

static

Member function definition.

References create().

Referenced by GraphOptimizer().

const PathOptimizerPtr_t& hpp::manipulation::GraphOptimizer::innerOptimizer ( )

inline

Get the encapsulated optimizer.

virtual PathVectorPtr_t hpp::manipulation::GraphOptimizer::optimize ( const PathVectorPtr_t &  path )

virtual