TSPSolver.h
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00001 
00003 #ifndef TSPSOLVER_H_
00004 #define TSPSOLVER_H_
00005 #include<coverage_3d_planning/SolverInterface.h>
00006 #include<surfacelet/SurfacePatch.h>
00007 #include<coverage_3d_arm_navigation/TrajectoryPlanner.h>
00008 #include<tf/tf.h>
00009 
00010 class TSPSolver: public SolverInterface {
00011 public:
00012     TSPSolver();
00013     TSPSolver(double max_adjacency);
00014 
00015     void getSolution(std::vector<std::vector<double> >& joint_path, std::vector<tf::Pose>& pose_path,
00016         std::vector<unsigned int>& action, std::vector<unsigned int>& res_traj);
00017     void getActions(const std::vector<unsigned int>& traj, std::vector<unsigned int>& actions);
00018 
00019 private:
00020 
00021     void computeWeightMatrix(Eigen::MatrixXf& weigths);
00022     void transformGTSPToTSP(const Eigen::VectorXi& multinode_mapping, Eigen::MatrixXi& adj_bool, Eigen::MatrixXf& adj_float);
00023 };
00024 #endif /* TSPSOLVER_H_ */
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coverage_3d_planning
Author(s): Juergen Hess
autogenerated on Wed Dec 26 2012 15:26:11