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hrplib
hrpPlanner
Optimizer.h
Go to the documentation of this file.
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// -*- C++ -*-
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#ifndef __OPTIMIZER_H
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#define __OPTIMIZER_H
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#include <vector>
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#include "
Configuration.h
"
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namespace
PathEngine
{
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class
PathPlanner;
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class
Optimizer
{
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public
:
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Optimizer
(
PathPlanner
* planner) :
planner_
(planner) {}
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virtual
~Optimizer
() {}
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virtual
std::vector<Configuration>
optimize
(
const
std::vector<Configuration> &
path
)=0;
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protected
:
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PathPlanner
*
planner_
;
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};
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typedef
Optimizer
* (*OptimizerNewFunc)(
PathPlanner
* planner);
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typedef
void
(*
OptimizerDeleteFunc
)(
Optimizer
* optimizer);
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template
<
class
_New>
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Optimizer
*
OptimizerCreate
(
PathPlanner
* planner) {
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return
new
_New(planner);
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}
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template
<
class
_Delete>
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void
OptimizerDelete
(
Optimizer
* optimizer) {
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delete
optimizer;
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}
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};
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#endif
PathEngine::OptimizerDeleteFunc
void(* OptimizerDeleteFunc)(Optimizer *optimizer)
Definition:
Optimizer.h:48
PathEngine::Optimizer::planner_
PathPlanner * planner_
Definition:
Optimizer.h:37
PathEngine::Optimizer
経路最適化アルゴリズム実装用の抽象クラス
Definition:
Optimizer.h:17
PathEngine::Optimizer::Optimizer
Optimizer(PathPlanner *planner)
コンストラクタ
Definition:
Optimizer.h:23
PathEngine::OptimizerDelete
void OptimizerDelete(Optimizer *optimizer)
Definition:
Optimizer.h:56
PathEngine::PathPlanner
計画経路エンジン
Definition:
hrplib/hrpPlanner/PathPlanner.h:44
PathEngine::Optimizer::~Optimizer
virtual ~Optimizer()
デストラクタ
Definition:
Optimizer.h:28
void
typedef void(PNGAPI *png_error_ptr) PNGARG((png_structp
PathEngine::Optimizer::optimize
virtual std::vector< Configuration > optimize(const std::vector< Configuration > &path)=0
経路を最適化する
PathEngine::OptimizerCreate
Optimizer * OptimizerCreate(PathPlanner *planner)
Definition:
Optimizer.h:51
path
path
PathEngine
Definition:
Algorithm.h:13
Configuration.h
openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sat May 8 2021 02:42:40