SingleProblemPlanner.hpp

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#ifndef AIKIDO_PLANNER_DART_SINGLEPROBLEMPLANNER_HPP_
#define AIKIDO_PLANNER_DART_SINGLEPROBLEMPLANNER_HPP_
 
#include "aikido/planner/SingleProblemPlanner.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
 
namespace aikido {
namespace planner {
namespace dart {
 
template <typename Derived, typename ProblemT>
class SingleProblemPlanner
  : public planner::SingleProblemPlanner<Derived, ProblemT>
{
public:
  SingleProblemPlanner(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      ::dart::dynamics::MetaSkeletonPtr metaSkeleton);
 
  statespace::dart::ConstMetaSkeletonStateSpacePtr getMetaSkeletonStateSpace()
      const;
 
  ::dart::dynamics::MetaSkeletonPtr getMetaSkeleton();
 
protected:
  statespace::dart::ConstMetaSkeletonStateSpacePtr mMetaSkeletonStateSpace;
 
  ::dart::dynamics::MetaSkeletonPtr mMetaSkeleton;
};
 
} // namespace dart
} // namespace planner
} // namespace aikido
 
#include "aikido/planner/dart/detail/SingleProblemPlanner-impl.hpp"
 
#endif // AIKIDO_PLANNER_DART_SINGLEPROBLEMPLANNER_HPP_