17 #ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH 18 #define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH 20 #include <hpp/core/steering-method.hh> 26 namespace manipulation {
29 namespace steeringMethod {
33 using core::PathPtr_t;
37 :
public core::SteeringMethod
42 static EndEffectorTrajectoryPtr_t
create (
const core::Problem& problem)
53 static PathPtr_t makePiecewiseLinearTrajectory (
matrixIn_t points,
67 void trajectory (
const PathPtr_t& eeTraj,
bool se3Output);
104 eeTraj_ (other.eeTraj_),
105 timeRange_ (other.timeRange_),
106 constraint_ (other.constraint_)
115 interval_t timeRange_;
123 #endif // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH boost::shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:90
const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:59
EndEffectorTrajectory(const core::Problem &problem)
Definition: end-effector-trajectory.hh:98
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:112
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vectorIn_t vectorIn_t
Definition: fwd.hh:83
Build StraightPath constrained by a varying right hand side constraint.
Definition: end-effector-trajectory.hh:36
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
core::matrixIn_t matrixIn_t
Definition: fwd.hh:121
HPP_PREDEF_CLASS(EndEffectorTrajectory)
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
core::interval_t interval_t
Definition: end-effector-trajectory.hh:40
core::SteeringMethodPtr_t copy() const
Definition: end-effector-trajectory.hh:84
const DifferentiableFunctionPtr_t & trajectory() const
Definition: end-effector-trajectory.hh:74
static EndEffectorTrajectoryPtr_t create(const core::Problem &problem)
Definition: end-effector-trajectory.hh:42
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:113
boost::shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:31
void impl_compute(result_ref, const_argument_ref) const
const interval_t & timeRange() const
Definition: end-effector-trajectory.hh:79
EndEffectorTrajectory(const EndEffectorTrajectory &other)
Definition: end-effector-trajectory.hh:102