libmove3d: /home/slemaign/softs-local/BioMove3D-git/lightPlanner/proto/ManipulationDynamic.hpp Source File

libmove3d 3.13.0

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00001 #ifndef __MANIPULATIONDYNAMIC_HPP__
00002 #define __MANIPULATIONDYNAMIC_HPP__
00003 
00004 class  ManipulationDynamic: public ManipulationPlanner {
00005   public:
00006   /* ******************************* */
00007   /* ******* (Con)Destructor ******* */
00008   /* ******************************* */
00009   ManipulationDynamic(p3d_rob* robot);
00010   virtual ~ManipulationDynamic();
00011   /* ******************************* */
00012   /* *********** Methods *********** */
00013   /* ******************************* */
00016     int checkCollisionOnTraj();
00019     int checkCollisionOnTraj(int currentLpId);
00022     MANIPULATION_TASK_MESSAGE replanCollidingTraj(int currentLpId, std::vector <p3d_traj*> &trajs);
00025     MANIPULATION_TASK_MESSAGE replanCollidingTraj(int currentLpId, std::vector <MANPIPULATION_TRAJECTORY_CONF_STR> &confs, std::vector <SM_TRAJ> &smTrajs);
00026     
00027   private:
00029     p3d_rob * _robot;
00030 };
00031 #endif