00001 00003 #ifndef SOLVERINTERFACE_H_ 00004 #define SOLVERINTERFACE_H_ 00005 #include<surfacelet/SurfacePatch.h> 00006 #include<coverage_3d_arm_navigation/TrajectoryPlanner.h> 00007 #include<tf/tf.h> 00008 00009 class SolverInterface { 00010 public: 00011 00012 SolverInterface(); 00013 SolverInterface(double max_adjacency); 00014 00015 virtual 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)= 0; 00017 virtual void getActions(const std::vector<unsigned int>& traj, std::vector<unsigned int>& actions)= 0; 00018 00019 void setGraph(const std::vector<SurfacePatch>& patches, const std::vector<pcl::PointXYZ>&surface_points, 00020 const Eigen::MatrixXi& adjacency, const std::vector<std::vector<tf::Pose> >&coll_free_poses, const std::vector< 00021 std::vector<std::vector<std::vector<double> > > >& coll_free_ik); 00022 void setStartPose(std::vector<double> joint_pose, tf::Pose pose); 00023 void setDistMeasure(std::string measure); 00024 void setMaxAdjacency(double adjacency); 00025 double getMaxAdjacency() const; 00026 00027 protected: 00028 00029 std::string dist_measure_; 00030 double max_adjacency_; 00031 00032 std::vector<double> start_joint_; 00033 tf::Pose start_pose_; 00034 std::vector<SurfacePatch> patches_; 00035 std::vector<pcl::PointXYZ> surface_points_; 00036 Eigen::MatrixXi adjacency_; 00037 std::vector<std::vector<tf::Pose> > coll_free_poses_; 00038 std::vector<std::vector<std::vector<std::vector<double> > > > coll_free_ik_; 00039 TrajectoryPlanner traj_planner_; 00040 }; 00041 #endif /* SOLVERINTERFACE_H_ */
