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Spam v2.0 - new software design to separate hypothesis-based planning…
… from the core libs. App libs are alike Grasp lib.
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| Spam | ||
| ==== | ||
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| Spam | ||
| # Spam-2.0 | ||
| Simultaneous Perception and Manipulation version 2.0 |
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| //------------------------------------------------------------------------------ | ||
| // Simultaneous Perception And Manipulation (SPAM) | ||
| //------------------------------------------------------------------------------ | ||
| // | ||
| // Copyright (c) 2010 University of Birmingham. | ||
| // All rights reserved. | ||
| // | ||
| // Intelligence Robot Lab. | ||
| // School of Computer Science | ||
| // University of Birmingham | ||
| // Edgbaston, Brimingham. UK. | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // with the Software without restriction, including without limitation the | ||
| // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or | ||
| // sell copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimers. | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimers in | ||
| // the documentation and/or other materials provided with the | ||
| // distribution. | ||
| // * Neither the names of the Simultaneous Perception And Manipulation | ||
| // (SPAM), University of Birmingham, nor the names of its contributors | ||
| // may be used to endorse or promote products derived from this Software | ||
| // without specific prior written permission. | ||
| // | ||
| // The software is provided "as is", without warranty of any kind, express or | ||
| // implied, including but not limited to the warranties of merchantability, | ||
| // fitness for a particular purpose and noninfringement. In no event shall the | ||
| // contributors or copyright holders be liable for any claim, damages or other | ||
| // liability, whether in an action of contract, tort or otherwise, arising | ||
| // from, out of or in connection with the software or the use of other dealings | ||
| // with the software. | ||
| // | ||
| //------------------------------------------------------------------------------ | ||
| //! @Author: Claudio Zito | ||
| //! @Date: 25/03/2014 | ||
| //------------------------------------------------------------------------------ | ||
| #pragma once | ||
| #ifndef _SPAM_POSEPLANNER_DATA_H_ | ||
| #define _SPAM_POSEPLANNER_DATA_H_ | ||
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| //------------------------------------------------------------------------------ | ||
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| #include <Spam/HBPlan/Belief.h> | ||
| #include <Spam/HBPlan/Heuristic.h> | ||
| #include <Spam/HBPlan/GraphPlanner.h> | ||
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| //------------------------------------------------------------------------------ | ||
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| namespace grasp { | ||
| namespace data { | ||
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| //------------------------------------------------------------------------------ | ||
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| /** Initialises handler. | ||
| * (Optionally) Implemented by Handler. | ||
| */ | ||
| class HandlerBelief { | ||
| public: | ||
| /** Sets planner and controllers. */ | ||
| virtual void set() = 0; | ||
| }; | ||
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| /** Trajectory collection and tools. | ||
| * (Optionally) Implemented by Item. | ||
| */ | ||
| class Belief { | ||
| public: | ||
| /** Returns command trajectory with velocity profile. */ | ||
| virtual void createBelief() = 0; | ||
| }; | ||
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| //------------------------------------------------------------------------------ | ||
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| }; // namespace | ||
| }; // namespace | ||
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| //namespace golem { | ||
| // | ||
| //template <> void Stream::read(spam::Data &data) const; | ||
| //template <> void Stream::write(const spam::Data &data); | ||
| // | ||
| //}; // namespace | ||
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| #endif /*_GRASP_POSEPLANNER_POSEPLANNER_H_*/ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| //------------------------------------------------------------------------------ | ||
| // Simultaneous Perception And Manipulation (SPAM) | ||
| //------------------------------------------------------------------------------ | ||
| // | ||
| // Copyright (c) 2010 University of Birmingham. | ||
| // All rights reserved. | ||
| // | ||
| // Intelligence Robot Lab. | ||
| // School of Computer Science | ||
| // University of Birmingham | ||
| // Edgbaston, Brimingham. UK. | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| // of this software and associated documentation files (the "Software"), to deal | ||
| // with the Software without restriction, including without limitation the | ||
| // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or | ||
| // sell copies of the Software, and to permit persons to whom the Software is | ||
| // furnished to do so, subject to the following conditions: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimers. | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimers in | ||
| // the documentation and/or other materials provided with the | ||
| // distribution. | ||
| // * Neither the names of the Simultaneous Perception And Manipulation | ||
| // (SPAM), University of Birmingham, nor the names of its contributors | ||
| // may be used to endorse or promote products derived from this Software | ||
| // without specific prior written permission. | ||
| // | ||
| // The software is provided "as is", without warranty of any kind, express or | ||
| // implied, including but not limited to the warranties of merchantability, | ||
| // fitness for a particular purpose and noninfringement. In no event shall the | ||
| // contributors or copyright holders be liable for any claim, damages or other | ||
| // liability, whether in an action of contract, tort or otherwise, arising | ||
| // from, out of or in connection with the software or the use of other dealings | ||
| // with the software. | ||
| // | ||
| //------------------------------------------------------------------------------ | ||
| //! @Author: Claudio Zito | ||
| //! @Date: 27/10/2012 | ||
| //------------------------------------------------------------------------------ | ||
| #pragma once | ||
| #ifndef _SPAM_RAGPLANNER_DATA_H_ | ||
| #define _SPAM_RAGPLANNER_DATA_H_ | ||
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| //------------------------------------------------------------------------------ | ||
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| #include <Spam/HBPlan/Belief.h> | ||
| #include <Spam/HBPlan/Heuristic.h> | ||
| #include <Spam/HBPlan/GraphPlanner.h> | ||
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| //------------------------------------------------------------------------------ | ||
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| namespace grasp { | ||
| namespace data { | ||
| //------------------------------------------------------------------------------ | ||
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| //------------------------------------------------------------------------------ | ||
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| }; // namespace | ||
| }; // namespace | ||
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| #endif /*_SPAM_RAGPLANNER_DATA_H_*/ |
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