ConfigurationToConfiguration.hpp

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#ifndef AIKIDO_PLANNER_CONFIGURATIONTOCONFIGURATION_HPP_
#define AIKIDO_PLANNER_CONFIGURATIONTOCONFIGURATION_HPP_
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/planner/Problem.hpp"
#include "aikido/statespace/StateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
 
namespace aikido {
namespace planner {
 
class ConfigurationToConfiguration : public Problem
{
public:
  ConfigurationToConfiguration(
      statespace::ConstStateSpacePtr stateSpace,
      const statespace::StateSpace::State* startState,
      const statespace::StateSpace::State* goalState,
      constraint::ConstTestablePtr constraint);
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  const statespace::StateSpace::State* getStartState() const;
 
  const statespace::StateSpace::State* getGoalState() const;
 
protected:
  statespace::StateSpace::ScopedState mStartState;
 
  statespace::StateSpace::ScopedState mGoalState;
};
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_CONFIGURATIONTOCONFIGURATION_HPP_