From 08ca880da3d5ccf8a8858cd9c4b2f7da13006196 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Thu, 31 Jul 2014 10:34:39 +0200
Subject: [PATCH] Add class Problem
---
CMakeLists.txt | 1 +
include/hpp/manipulation/problem.hh | 51 +++++++++++++++++++++++++++++
2 files changed, 52 insertions(+)
create mode 100644 include/hpp/manipulation/problem.hh
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2872f7af..4627f4af 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,6 +45,7 @@ SET (${PROJECT_NAME}_HEADERS
include/hpp/manipulation/axial-handle.hh
include/hpp/manipulation/handle.hh
include/hpp/manipulation/object.hh
+ include/hpp/manipulation/problem.hh
include/hpp/manipulation/problem-solver.hh
include/hpp/manipulation/robot.hh
include/hpp/manipulation/manipulation-planner.hh
diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
new file mode 100644
index 00000000..8914fe00
--- /dev/null
+++ b/include/hpp/manipulation/problem.hh
@@ -0,0 +1,51 @@
+// Copyright (c) 2014, LAAS-CNRS
+// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
+//
+// This file is part of hpp-manipulation.
+// hpp-manipulation is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-manipulation is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Lesser Public License for more details. You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
+
+#include <hpp/core/problem.hh>
+
+#include "hpp/manipulation/robot.hh"
+#include "hpp/manipulation/graph/graph.hh"
+#include "hpp/manipulation/fwd.hh"
+
+namespace hpp {
+ namespace manipulation {
+ class HPP_MANIPULATION_DLLAPI Problem : public core::Problem
+ {
+ public:
+ /// Constructor
+ Problem (RobotPtr_t robot) : core::Problem (robot),
+ graph_()
+ {
+ }
+
+ /// Set the graph of constraints
+ void constraintGraph (const graph::GraphPtr_t& graph)
+ {
+ graph_ = graph;
+ }
+
+ /// Get the graph of constraints
+ graph::GraphPtr_t constraintGraph () const
+ {
+ return graph_;
+ }
+
+ private:
+ /// The graph of constraints
+ graph::GraphPtr_t graph_;
+ };
+ } // namespace manipulation
+} // namespace hpp
--
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