navigateAndPick.hpp

#ifndef NAVIGATEANDPICK_HPP
#define NAVIGATEANDPICK_HPP

#include "pick.hpp"

class NavigateAndPick : public Pick
{
    MOVE3D_STATIC_LOGGER;
public:
    NavigateAndPick();
    bool initAll();
    bool findCandidateSolutions();
    bool getRandomSol();
    bool findConfigurations();
    bool findTrajectories();
    bool computeSolutionTrajectories(TaskSolution *ts);
    TaskSolution *createSolution(bool computeMP);

protected:
    int maxTests;

    double _maxDistFromObj;
    confPtr_t _graspingConf;

    std::vector<p3d_point> _navTraj;
};

#endif // NAVIGATEANDPICK_HPP