motion_solver.h
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29 
30 #ifndef EXOTICA_CORE_MOTION_SOLVER_H_
31 #define EXOTICA_CORE_MOTION_SOLVER_H_
32 
33 #include <exotica_core/factory.h>
34 #include <exotica_core/object.h>
36 #include <exotica_core/property.h>
37 
38 #define REGISTER_MOTIONSOLVER_TYPE(TYPE, DERIV) EXOTICA_CORE_REGISTER(exotica::MotionSolver, TYPE, DERIV)
39 
40 namespace exotica
41 {
42 class MotionSolver : public Object, Uncopyable, public virtual InstantiableBase
43 {
44 public:
45  MotionSolver() = default;
46  virtual ~MotionSolver() = default;
47  void InstantiateBase(const Initializer& init) override;
48  virtual void SpecifyProblem(PlanningProblemPtr pointer);
49  virtual void Solve(Eigen::MatrixXd& solution) = 0;
51  std::string Print(const std::string& prepend) const override;
52  void SetNumberOfMaxIterations(int max_iter)
53  {
54  if (max_iter < 1) ThrowPretty("Number of maximum iterations needs to be greater than 0.");
55  max_iterations_ = max_iter;
56  }
58  double GetPlanningTime() { return planning_time_; }
59 
60 protected:
62  double planning_time_ = -1;
63  int max_iterations_ = 100;
64 };
65 
66 typedef std::shared_ptr<exotica::MotionSolver> MotionSolverPtr;
67 } // namespace exotica
68 
69 #endif // EXOTICA_CORE_MOTION_SOLVER_H_
void SetNumberOfMaxIterations(int max_iter)
Definition: motion_solver.h:52
std::string Print(const std::string &prepend) const override
virtual ~MotionSolver()=default
std::shared_ptr< exotica::MotionSolver > MotionSolverPtr
Definition: motion_solver.h:66
virtual void Solve(Eigen::MatrixXd &solution)=0
PlanningProblemPtr problem_
Definition: motion_solver.h:61
#define ThrowPretty(m)
Definition: exception.h:36
virtual void SpecifyProblem(PlanningProblemPtr pointer)
void InstantiateBase(const Initializer &init) override
std::shared_ptr< PlanningProblem > PlanningProblemPtr
PlanningProblemPtr GetProblem() const
Definition: motion_solver.h:50


exotica_core
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:34:49