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Steering method and distance functions

Some system are subject to kinematic or dynamic constraints. More...

Classes

class  hpp::core::Distance
 Abstract class for distance between configurations. More...
 
class  hpp::core::SteeringMethodStraight
 Steering method that creates StraightPath instances. More...
 
class  hpp::core::SteeringMethod
 Steering method. More...
 
class  hpp::core::WeighedDistance
 Weighed distance between configurations. More...
 

Detailed Description

Some system are subject to kinematic or dynamic constraints.

Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another.