SingleProblemPlanner.hpp

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#ifndef AIKIDO_PLANNER_SINGLEPROBLEMPLANNER_HPP_
#define AIKIDO_PLANNER_SINGLEPROBLEMPLANNER_HPP_
 
#include "aikido/planner/Planner.hpp"
#include "aikido/planner/Problem.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace planner {
 
template <typename Derived, typename ProblemT>
class SingleProblemPlanner : public Planner
{
public:
  using SolvableProblem = ProblemT;
 
  explicit SingleProblemPlanner(
      statespace::ConstStateSpacePtr stateSpace, common::RNG* rng = nullptr);
 
  // Documentation inherited.
  bool canSolve(const Problem& problem) const final override;
 
  // Documentation inherited.
  trajectory::TrajectoryPtr plan(
      const Problem& problem, Result* result = nullptr) final override;
};
 
} // namespace planner
} // namespace aikido
 
#include "aikido/planner/detail/SingleProblemPlanner-impl.hpp"
 
#endif // AIKIDO_PLANNER_SINGLEPROBLEMPLANNER_HPP_