00001 00003 #include<coverage_3d_planning/SolverInterface.h> 00004 00005 SolverInterface::SolverInterface() : 00006 dist_measure_("DIST"), max_adjacency_(30000) { 00007 00008 } 00009 SolverInterface::SolverInterface(double max_adjacency) : 00010 dist_measure_("DIST"), max_adjacency_(max_adjacency) { 00011 00012 } 00013 00014 void SolverInterface::setDistMeasure(std::string measure) { 00015 dist_measure_ = measure; 00016 } 00017 00018 void SolverInterface::setGraph(const std::vector<SurfacePatch>& patches, 00019 const std::vector<pcl::PointXYZ>&surface_points, const Eigen::MatrixXi& adjacency, const std::vector<std::vector< 00020 tf::Pose> >&coll_free_poses, const std::vector<std::vector<std::vector<std::vector<double> > > >& coll_free_ik) { 00021 patches_ = patches; 00022 surface_points_ = surface_points; 00023 adjacency_ = adjacency; 00024 coll_free_poses_ = coll_free_poses; 00025 coll_free_ik_ = coll_free_ik; 00026 } 00027 00028 void SolverInterface::setStartPose(std::vector<double> joint_pose, tf::Pose pose) { 00029 start_joint_ = joint_pose; 00030 start_pose_ = pose; 00031 } 00032 00033 void SolverInterface::setMaxAdjacency(double adjacency) { 00034 max_adjacency_ = adjacency; 00035 } 00036 double SolverInterface::getMaxAdjacency() const { 00037 return max_adjacency_; 00038 } 00039 00040
