fakePlace.hpp

#ifndef FAKEPLACE_HPP
#define FAKEPLACE_HPP
#include "GTP/Tasks/manipulationTable/place.hpp"


class FakePlace : public Place
{
    MOVE3D_STATIC_LOGGER;
public:
    FakePlace();

    bool initAll();
    bool initialize();
    bool finalize();
    bool findCandidateSolutions();
    bool getRandomSol();
    bool findConfigurations();
    bool findTrajectories();
    bool setAgents(std::multimap<std::string,std::string> agents_name);
    bool setToSolution(int solutionId, bool computeMP);
    bool isPossibleMainAgent(Robot* r);
    double computeCost(int altId);
    std::string getDescr();

private:
    p3d_point _targetPointStc;
    std::vector<configPt> _rotations;
};

#endif // FAKEPLACE_HPP