Add class Problem

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

include/hpp/manipulation/problem.hh

+// 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