path-planner.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux
//
// This file is part of hpp-core
// hpp-core is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
//
// hpp-core is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Lesser Public License for more details.  You should have
// received a copy of the GNU Lesser General Public License along with
// hpp-core  If not, see
// <http://www.gnu.org/licenses/>.

#ifndef HPP_CORE_PATH_PLANNER_HH
# define HPP_CORE_PATH_PLANNER_HH

# include <hpp/core/fwd.hh>
# include <hpp/core/config.hh>

namespace hpp {
  namespace core {

    class HPP_CORE_DLLAPI PathPlanner {
    public:
      virtual ~PathPlanner () {};

      virtual const RoadmapPtr_t& roadmap () const;
      const Problem& problem () const;
      virtual void startSolve ();
      virtual PathVectorPtr_t solve ();
      virtual void tryDirectPath() HPP_CORE_DEPRECATED;
      virtual void tryConnectInitAndGoals ();

      virtual void oneStep () = 0;
      virtual PathVectorPtr_t finishSolve (const PathVectorPtr_t& path);
      void interrupt ();
      void maxIterations (const unsigned long int& n);
      void timeOut(const double& timeOut);
      PathVectorPtr_t computePath () const;
    protected:
      PathPlanner (const Problem& problem);
      PathPlanner (const Problem& problem, const RoadmapPtr_t& roadmap);
      void init (const PathPlannerWkPtr_t& weak);
    private:
      const Problem& problem_;
      const RoadmapPtr_t roadmap_;
      bool interrupt_;
      unsigned long int maxIterations_;
      double timeOut_;

      PathPlannerWkPtr_t weakPtr_;
    }; // class PathPlanner
  } //   namespace core
} // namespace hpp
#endif // HPP_CORE_PATH_PLANNER_HH