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hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order > Class Template Reference

Steering method that creates path::Spline instances. More...

#include <hpp/core/steering-method/spline.hh>

Inheritance diagram for hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >:
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Collaboration diagram for hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >:
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Public Types

enum  {
  PolynomeBasis = _PolynomeBasis,
  SplineOrder = _SplineOrder
}
 
typedef path::Spline
< PolynomeBasis, SplineOrder
SplinePath
 
typedef SplinePath::Ptr_t SplinePathPtr_t
 
typedef boost::shared_ptr< SplinePtr_t
 
typedef boost::weak_ptr< SplineWkPtr_t
 

Public Member Functions

virtual SteeringMethodPtr_t copy () const
 Copy instance and return shared pointer. More...
 
virtual PathPtr_t impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 create a path between two configurations More...
 
PathPtr_t steer (ConfigurationIn_t q1, std::vector< int > order1, matrixIn_t derivatives1, ConfigurationIn_t q2, std::vector< int > order2, matrixIn_t derivatives2) const
 create a path between two configurations More...
 
- Public Member Functions inherited from hpp::core::SteeringMethod
PathPtr_t operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 create a path between two configurations More...
 
virtual ~SteeringMethod ()
 
const Problemproblem () const
 
void constraints (const ConstraintSetPtr_t &constraints)
 Set constraint set. More...
 
const ConstraintSetPtr_tconstraints () const
 Get constraint set. More...
 

Static Public Member Functions

static Ptr_t create (const Problem &problem)
 
static Ptr_t createCopy (const Ptr_t &other)
 Copy instance and return shared pointer. More...
 

Protected Member Functions

 Spline (const Problem &problem)
 Constructor. More...
 
 Spline (const Spline &other)
 Copy constructor. More...
 
void init (WkPtr_t weak)
 Store weak pointer to itself. More...
 
- Protected Member Functions inherited from hpp::core::SteeringMethod
 SteeringMethod (const Problem &problem)
 Constructor. More...
 
 SteeringMethod (const SteeringMethod &other)
 Copy constructor. More...
 
void init (SteeringMethodWkPtr_t weak)
 Store weak pointer to itself. More...
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::SteeringMethod
const Problemproblem_
 

Detailed Description

template<int _PolynomeBasis, int _Order>
class hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >

Steering method that creates path::Spline instances.

Member Typedef Documentation

template<int _PolynomeBasis, int _Order>
typedef boost::shared_ptr<Spline> hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::Ptr_t
template<int _PolynomeBasis, int _Order>
typedef path::Spline<PolynomeBasis, SplineOrder> hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::SplinePath
template<int _PolynomeBasis, int _Order>
typedef SplinePath::Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::SplinePathPtr_t
template<int _PolynomeBasis, int _Order>
typedef boost::weak_ptr<Spline> hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::WkPtr_t

Member Enumeration Documentation

template<int _PolynomeBasis, int _Order>
anonymous enum
Enumerator
PolynomeBasis 
SplineOrder 

Constructor & Destructor Documentation

template<int _PolynomeBasis, int _Order>
hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::Spline ( const Problem problem)
protected

Constructor.

template<int _PolynomeBasis, int _Order>
hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::Spline ( const Spline< _PolynomeBasis, _Order > &  other)
protected

Copy constructor.

Member Function Documentation

template<int _PolynomeBasis, int _Order>
virtual SteeringMethodPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::copy ( ) const
inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

template<int _PolynomeBasis, int _Order>
static Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::create ( const Problem problem)
inlinestatic
template<int _PolynomeBasis, int _Order>
static Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::createCopy ( const Ptr_t other)
inlinestatic

Copy instance and return shared pointer.

References hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::init().

template<int _PolynomeBasis, int _Order>
virtual PathPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::impl_compute ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2 
) const
virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

template<int _PolynomeBasis, int _Order>
void hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::init ( WkPtr_t  weak)
inlineprotected
template<int _PolynomeBasis, int _Order>
PathPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _Order >::steer ( ConfigurationIn_t  q1,
std::vector< int >  order1,
matrixIn_t  derivatives1,
ConfigurationIn_t  q2,
std::vector< int >  order2,
matrixIn_t  derivatives2 
) const

create a path between two configurations