state.hh

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//
// Copyright (c) 2016 CNRS
// Authors: Joseph Mirabel
//

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// modification, are permitted provided that the following conditions are
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//
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#ifndef HPP_MANIPULATION_PROBLEM_TARGET_STATE_HH
#define HPP_MANIPULATION_PROBLEM_TARGET_STATE_HH

#include <hpp/core/fwd.hh>
#include <hpp/core/problem-target.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>

namespace hpp {
namespace manipulation {
namespace problemTarget {

class HPP_MANIPULATION_DLLAPI State : public core::ProblemTarget {
 public:
 static StatePtr_t create(const problem);

 void check(const core::RoadmapPtr_t& roadmap) const;

 bool reached(const core::RoadmapPtr_t& roadmap) const;

 core::RoadmapPtr_t& roadmap) const;

 void target(const graph::StatePtr_t& state) { state_ = state; }

 protected:
 State(const problem) {}

 private:
 graph::StatePtr_t state_;
}; // class State

} // namespace problemTarget
} // namespace manipulation
} // namespace hpp
#endif // HPP_MANIPULATION_PROBLEM_TARGET_STATE_HH