Planner.hpp

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#ifndef AIKIDO_PLANNER_PLANNER_HPP_
#define AIKIDO_PLANNER_PLANNER_HPP_
 
#include <string>
 
#include "aikido/common/pointers.hpp"
#include "aikido/planner/Problem.hpp"
#include "aikido/statespace/StateSpace.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace planner {
 
AIKIDO_DECLARE_POINTERS(Planner)
 
class Planner
{
public:
  class Result;
 
  explicit Planner(
      statespace::ConstStateSpacePtr stateSpace, common::RNG* rng = nullptr);
 
  virtual ~Planner() = default;
 
  statespace::ConstStateSpacePtr getStateSpace() const;
 
  common::RNG* getRng();
 
  virtual bool canSolve(const Problem& problem) const = 0;
 
  virtual trajectory::TrajectoryPtr plan(
      const Problem& problem, Result* result = nullptr)
      = 0;
 
protected:
  statespace::ConstStateSpacePtr mStateSpace;
 
  std::unique_ptr<common::RNG> mRng;
};
 
class Planner::Result
{
public:
  explicit Result(const std::string& message = "");
 
  virtual ~Result() = default;
 
  void setMessage(const std::string& message);
 
  const std::string& getMessage() const;
 
protected:
  std::string mMessage;
};
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_PLANNER_HPP_