ConfigurationToConfigurationsPlanner.hpp

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#ifndef AIKIDO_PLANNER_DART_CONFIGURATIONTOCONFIGURATIONSPLANNER_HPP_
#define AIKIDO_PLANNER_DART_CONFIGURATIONTOCONFIGURATIONSPLANNER_HPP_
 
#include "aikido/distance/ConfigurationRanker.hpp"
#include "aikido/planner/dart/ConfigurationToConfigurations.hpp"
#include "aikido/planner/dart/SingleProblemPlanner.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace planner {
namespace dart {
 
class ConfigurationToConfigurationsPlanner
  : public dart::SingleProblemPlanner<
        ConfigurationToConfigurationsPlanner,
        ConfigurationToConfigurations>
{
public:
  // Expose the implementation of Planner::plan(const Problem&, Result*) in
  // SingleProblemPlanner. Note that plan() of the base class takes Problem
  // while the virtual function defined in this class takes SolvableProblem,
  // which is simply ConfigurationToConfigurations.
  using SingleProblemPlanner::plan;
 
  ConfigurationToConfigurationsPlanner(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      ::dart::dynamics::MetaSkeletonPtr metaSkeleton,
      distance::ConstConfigurationRankerPtr configurationRanker = nullptr);
 
  virtual trajectory::TrajectoryPtr plan(
      const SolvableProblem& problem, Result* result = nullptr)
      = 0;
  // Note: SolvableProblem is defined in SingleProblemPlanner.
 
protected:
  distance::ConstConfigurationRankerPtr mConfigurationRanker;
};
 
} // namespace dart
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_DART_CONFIGURATIONTOCONFIGURATIONSPLANNER_HPP_