motion_solver.h

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//
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#ifndef EXOTICA_CORE_MOTION_SOLVER_H_
#define EXOTICA_CORE_MOTION_SOLVER_H_
 
#include <exotica_core/factory.h>
#include <exotica_core/object.h>
#include <exotica_core/planning_problem.h>
#include <exotica_core/property.h>
 
#define REGISTER_MOTIONSOLVER_TYPE(TYPE, DERIV) EXOTICA_CORE_REGISTER(exotica::MotionSolver, TYPE, DERIV)
 
namespace exotica
{
class MotionSolver : public Object, Uncopyable, public virtual InstantiableBase
{
public:
    MotionSolver() = default;
    virtual ~MotionSolver() = default;
    void InstantiateBase(const Initializer& init) override;
    virtual void SpecifyProblem(PlanningProblemPtr pointer);
    virtual void Solve(Eigen::MatrixXd& solution) = 0;
    PlanningProblemPtr GetProblem() const { return problem_; }
    std::string Print(const std::string& prepend) const override;
    void SetNumberOfMaxIterations(int max_iter)
    {
        if (max_iter < 1) ThrowPretty("Number of maximum iterations needs to be greater than 0.");
        max_iterations_ = max_iter;
    }
    int GetNumberOfMaxIterations() { return max_iterations_; }
    double GetPlanningTime() { return planning_time_; }
 
protected:
    PlanningProblemPtr problem_;
    double planning_time_ = -1;
    int max_iterations_ = 100;
};
 
typedef std::shared_ptr<exotica::MotionSolver> MotionSolverPtr;
}  // namespace exotica
 
#endif  // EXOTICA_CORE_MOTION_SOLVER_H_