VectorFieldConfigurationToEndEffectorPosePlanner.hpp

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#ifndef AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDCONFIGURATIONTOENDEFFECTORPOSEPLANNER_HPP_
#define AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDCONFIGURATIONTOENDEFFECTORPOSEPLANNER_HPP_
 
#include "aikido/planner/dart/ConfigurationToEndEffectorPose.hpp"
#include "aikido/planner/dart/ConfigurationToEndEffectorPosePlanner.hpp"
 
namespace aikido {
namespace planner {
namespace vectorfield {
 
class VectorFieldConfigurationToEndEffectorPosePlanner
  : public planner::dart::ConfigurationToEndEffectorPosePlanner
{
public:
  VectorFieldConfigurationToEndEffectorPosePlanner(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      ::dart::dynamics::MetaSkeletonPtr metaSkeleton,
      double goalTolerance,
      double anglePoseRatio,
      double positionTolerance,
      double angularTolerance,
      double initialStepSize,
      double jointLimitTolerance,
      double constraintCheckResolution,
      std::chrono::duration<double> timelimit);
 
  trajectory::TrajectoryPtr plan(
      const SolvableProblem& problem, Result* result = nullptr) override;
 
protected:
  double mGoalTolerance;
 
  double mAnglePoseRatio;
 
  double mPositionTolerance;
 
  double mAngularTolerance;
 
  double mInitialStepSize;
 
  double mJointLimitTolerance;
 
  double mConstraintCheckResolution;
 
  std::chrono::duration<double> mTimelimit;
};
 
} // namespace vectorfield
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDCONFIGURATIONTOENDEFFECTORPOSEPLANNER_HPP_