30 #ifndef HPP_CORE_STRAIGHT_PATH_HH 31 #define HPP_CORE_STRAIGHT_PATH_HH 36 #include <hpp/pinocchio/liegroup-element.hh> 68 ptr =
new StraightPath(space, init, end, interval, constraints);
85 assert(init.space() == end.space());
86 return create(init.space(), init.vector(), end.vector(), interval,
98 return create(device, init, end,
interval_t(0, length), constraints);
144 return createCopy(weak_.lock(), constraints);
152 assert(initial.size() == initial_.size());
161 assert(end.size() == end_.size());
173 virtual std::ostream& print(std::ostream& os)
const;
190 parent_t::init(
self);
215 StraightPathWkPtr_t weak_;
229 #endif // HPP_CORE_STRAIGHT_PATH_HH pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:133
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
void init(StraightPathPtr_t self)
Definition: straight-path.hh:189
Configuration_t initial_
Definition: straight-path.hh:211
Definition: bi-rrt-planner.hh:35
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:174
virtual void checkPath() const
Should be called by child classes after having init.
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
pinocchio::size_type size_type
Definition: fwd.hh:172
void endConfig(ConfigurationIn_t end)
Definition: straight-path.hh:160
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:199
virtual PathPtr_t copy() const
Definition: straight-path.hh:137
static StraightPathPtr_t createCopy(const StraightPathPtr_t &path)
Definition: straight-path.hh:113
static StraightPathPtr_t create(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:62
Path parent_t
Definition: straight-path.hh:54
void initialConfig(ConfigurationIn_t initial)
Definition: straight-path.hh:151
Configuration_t end() const
Get the final configuration.
Definition: straight-path.hh:169
Configuration_t initial() const
Get the initial configuration.
Definition: straight-path.hh:166
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:220
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:171
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:169
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:129
virtual ~StraightPath()
Destructor.
Definition: straight-path.hh:56
pinocchio::value_type value_type
Definition: fwd.hh:173
Configuration_t end_
Definition: straight-path.hh:212
Definition: straight-path.hh:52
static StraightPathPtr_t create(LiegroupElementConstRef init, LiegroupElementConstRef end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:81
LiegroupSpacePtr_t space_
Definition: straight-path.hh:210
static StraightPathPtr_t createCopy(const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: straight-path.hh:124
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:221
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: straight-path.hh:143
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:94
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186
StraightPath()
Definition: straight-path.hh:218