29 #ifndef HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH 30 #define HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH 35 #include <hpp/util/debug.hh> 36 #include <hpp/util/pointer.hh> 40 namespace steeringMethod {
42 typedef Eigen::Matrix<value_type, 3, 1>
Vector3;
91 double computeMinTime(
int index,
double p1,
double p2,
double v1,
double v2,
109 virtual void fixedTimeTrajectory(
int index,
double T,
double p1,
double p2,
110 double v1,
double v2,
double* a1,
double* t0,
111 double* t1,
double* tv,
double* t2,
126 void init(KinodynamicWkPtr_t weak) {
141 KinodynamicWkPtr_t weak_;
147 #endif // HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH Vector3 vMax_
Definition: steering-kinodynamic.hh:132
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
bool orientationIgnoreZValue_
Definition: steering-kinodynamic.hh:137
void setAmax(Vector3 aMax)
Definition: steering-kinodynamic.hh:114
Definition: steering-method.hh:48
Definition: bi-rrt-planner.hh:35
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:174
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:134
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
void setVmax(Vector3 vMax)
Definition: steering-kinodynamic.hh:116
Definition: steering-kinodynamic.hh:56
static KinodynamicPtr_t createCopy(const KinodynamicPtr_t &other)
Copy instance and return shared pointer.
Definition: steering-kinodynamic.hh:67
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:340
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:110
Eigen::Matrix< value_type, 3, 1 > Vector3
Definition: steering-kinodynamic.hh:42
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: steering-kinodynamic.hh:75
bool orientedPath_
Definition: steering-kinodynamic.hh:136
double aMaxFixed_Z_
Definition: steering-kinodynamic.hh:134
void init(KinodynamicWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-kinodynamic.hh:126
double aMaxFixed_
Definition: steering-kinodynamic.hh:133
static KinodynamicPtr_t create(const ProblemConstPtr_t &problem)
Create an instance.
Definition: steering-kinodynamic.hh:59
bool synchronizeVerticalAxis_
Definition: steering-kinodynamic.hh:135
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:212
Vector3 aMax_
Definition: steering-kinodynamic.hh:131
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186