VectorFieldPlanner.hpp

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#ifndef AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDPLANNER_HPP_
#define AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDPLANNER_HPP_
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/planner/Planner.hpp"
#include "aikido/planner/vectorfield/VectorField.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
 
namespace aikido {
namespace planner {
namespace vectorfield {
 
aikido::trajectory::UniqueInterpolatedPtr followVectorField(
    const aikido::planner::vectorfield::VectorField& vectorField,
    const aikido::statespace::StateSpace::State& startState,
    const aikido::constraint::Testable& constraint,
    std::chrono::duration<double> timelimit,
    double initialStepSize,
    double checkConstraintResolution,
    planner::Planner::Result* result);
 
aikido::trajectory::UniqueInterpolatedPtr planToEndEffectorOffset(
    const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr& stateSpace,
    const statespace::dart::MetaSkeletonStateSpace::State& startState,
    ::dart::dynamics::MetaSkeletonPtr metaskeleton,
    const ::dart::dynamics::ConstBodyNodePtr& bn,
    const aikido::constraint::ConstTestablePtr& constraint,
    const Eigen::Vector3d& direction,
    double minDistance,
    double maxDistance,
    double positionTolerance,
    double angularTolerance,
    double initialStepSize,
    double jointLimitTolerance,
    double constraintCheckResolution,
    std::chrono::duration<double> timelimit,
    planner::Planner::Result* result = nullptr);
 
aikido::trajectory::UniqueInterpolatedPtr planToEndEffectorPose(
    const aikido::statespace::dart::MetaSkeletonStateSpacePtr& stateSpace,
    ::dart::dynamics::MetaSkeletonPtr metaskeleton,
    const ::dart::dynamics::BodyNodePtr& bn,
    const aikido::constraint::TestablePtr& constraint,
    const Eigen::Isometry3d& goalPose,
    double poseErrorTolerance,
    double conversionRatioInGeodesicDistance,
    double initialStepSize,
    double jointLimitTolerance,
    double constraintCheckResolution,
    std::chrono::duration<double> timelimit,
    planner::Planner::Result* result = nullptr);
 
} // namespace vectorfield
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_VECTORFIELD_VECTORFIELDPLANNER_HPP_