placeHuman.hpp

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

class PlaceHuman : public Place
{
    MOVE3D_STATIC_LOGGER;
public:
    PlaceHuman();
    bool initAll();
    bool initialize();
    bool findCandidateSolutions();
    bool getRandomSol();
    bool findConfigurations();
    bool findTrajectories();
    bool computeSolutionTrajectories(TaskSolution *TS);
    virtual TaskSolution *createSolution(bool computeMP);
    void smoothSolution(int alternativeId);

private:
    p3d_point targetPoint;
    p3d_point agShoulder;
    double ag_reach;
};

#endif // PLACEHUMAN_HPP