scene_planning.h

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/* -*- mode: C; c-basic-offset: 4; -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2015, Rice University
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@rice.edu>
 *
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of copyright holder the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 *
 */

#ifndef AMINO_RX_SCENE_PLANNING_H
#define AMINO_RX_SCENE_PLANNING_H

#include "scene_kin.h"

/*--- Motion Planning ---*/

struct aa_rx_mp;

struct aa_rx_mp_planner;

AA_API struct aa_rx_mp*
aa_rx_mp_create( const struct aa_rx_sg_sub *sub_sg );

AA_API void
aa_rx_mp_destroy( struct aa_rx_mp *mp );

AA_API void
aa_rx_mp_set_start( struct aa_rx_mp *mp,
                    size_t n_all,
                    double *q_all );


AA_API void
aa_rx_mp_allow_config( struct aa_rx_mp *mp,
                       size_t n_all,
                       double *q_all );
AA_API void
aa_rx_mp_allow_collision( struct aa_rx_mp *mp,
                          aa_rx_frame_id id0, aa_rx_frame_id id1, int allowed );

AA_API int
aa_rx_mp_set_goal( struct aa_rx_mp *mp,
                   size_t n_q,
                   double *q_subset);

AA_API int
aa_rx_mp_set_wsgoal( struct aa_rx_mp *mp,
                     size_t n_e, const aa_rx_frame_id *frames,
                     const double *E, size_t ldE );


AA_API void
aa_rx_mp_set_simplify( struct aa_rx_mp *mp,
                       int simplify );

AA_API int
aa_rx_mp_plan( struct aa_rx_mp *mp,
               double timeout,
               size_t *n_path,
               double **p_path_all );

AA_API struct aa_rx_cl_set* aa_rx_mp_get_allowed( const struct aa_rx_mp* mp);


/*---- RRT -----*/

struct aa_rx_mp_rrt_attr;

AA_API struct aa_rx_mp_rrt_attr*
aa_rx_mp_rrt_attr_create(void);

AA_API void
aa_rx_mp_rrt_attr_destroy(struct aa_rx_mp_rrt_attr*);


AA_API void
aa_rx_mp_rrt_attr_set_bidirectional( struct aa_rx_mp_rrt_attr* attrs,
                                     int is_bidirectional );

AA_API void
aa_rx_mp_set_rrt( struct aa_rx_mp* mp,
                  const struct aa_rx_mp_rrt_attr *attr );


/*---- SBL -----*/

struct aa_rx_mp_sbl_attr;

AA_API struct aa_rx_mp_sbl_attr*
aa_rx_mp_sbl_attr_create(void);

AA_API void
aa_rx_mp_sbl_attr_destroy(struct aa_rx_mp_sbl_attr*);

AA_API void
aa_rx_mp_set_sbl( struct aa_rx_mp* mp,
                  const struct aa_rx_mp_sbl_attr *attr );


/*---- KPIECE -----*/

struct aa_rx_mp_kpiece_attr;

AA_API struct aa_rx_mp_kpiece_attr*
aa_rx_mp_kpiece_attr_create(void);

AA_API void
aa_rx_mp_kpiece_attr_destroy(struct aa_rx_mp_kpiece_attr*);

AA_API void
aa_rx_mp_set_kpiece( struct aa_rx_mp* mp,
                     const struct aa_rx_mp_kpiece_attr *attr );




#endif /*AMINO_RX_SCENE_PLANNING_H*/