ompl_native_solvers.cpp

Go to the documentation of this file.

//
// Copyright (c) 2018, University of Edinburgh
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//  * Redistributions of source code must retain the above copyright notice,
//    this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of  nor the names of its contributors may be used to
//    endorse or promote products derived from this software without specific
//    prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//

#include <exotica_ompl_control_solver/ompl_native_solvers.h>

REGISTER_MOTIONSOLVER_TYPE("ControlRRTSolver", exotica::ControlRRTSolver)
REGISTER_MOTIONSOLVER_TYPE("ControlKPIECESolver", exotica::ControlKPIECESolver)

namespace exotica
{
// ControlRRTSolver
ControlRRTSolver::ControlRRTSolver() = default;

void ControlRRTSolver::Instantiate(const ControlRRTSolverInitializer &init)
{
    init_ = OMPLControlSolverInitializer(ControlRRTSolverInitializer(init));
    algorithm_ = "ControlRRTSolver";
    planner_allocator_ = std::bind(&AllocatePlanner<ompl::control::RRT>, std::placeholders::_1);
}

// ControlKPIECESolver
ControlKPIECESolver::ControlKPIECESolver() = default;

void ControlKPIECESolver::Instantiate(const ControlKPIECESolverInitializer &init)
{
    init_ = OMPLControlSolverInitializer(ControlKPIECESolverInitializer(init));
    algorithm_ = "ControlKPIECESolver";
    planner_allocator_ = std::bind(&AllocatePlanner<ompl::control::KPIECE1>, std::placeholders::_1);
}

}  // namespace exotica