17 #ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH 18 # define HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH 20 #include <hpp/core/path-optimization/spline-gradient-based.hh> 26 namespace manipulation {
29 namespace pathOptimization {
30 template <
int _PolynomeBasis,
int _SplineOrder>
32 public core::pathOptimization::SplineGradientBased<_PolynomeBasis, _SplineOrder>
36 PolynomeBasis = _PolynomeBasis,
37 SplineOrder = _SplineOrder
39 typedef core::pathOptimization::SplineGradientBased<PolynomeBasis, SplineOrder>
41 typedef shared_ptr<SplineGradientBased>
Ptr_t;
43 using typename Parent_t::Spline;
44 using typename Parent_t::SplinePtr_t;
45 using typename Parent_t::Splines_t;
58 using typename Parent_t::SplineOptimizationDatas_t;
72 virtual void initializePathValidation(
const Splines_t& splines);
74 virtual void addProblemConstraints (
const core::PathVectorPtr_t& init,
75 const Splines_t& splines, LinearConstraint& lc, SplineOptimizationDatas_t& sods)
const;
77 virtual void constrainEndIntoState (
const core::PathPtr_t& path,
78 const size_type& idxSpline,
const SplinePtr_t& spline,
81 virtual void constraintDerivativesAtEndOfSpline (
const size_type& idxSpline,
82 const SplinePtr_t& spline, LinearConstraint& lc)
const;
89 #endif // HPP_MANIPULATION_PATH_OPTIMIZATION_GRADIENT_BASED_HH
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
hpp::core::pathOptimization::LinearConstraint LinearConstraint
Definition: spline-gradient-based.hh:57
core::pathOptimization::SplineGradientBased< PolynomeBasis, SplineOrder > Parent_t
Definition: spline-gradient-based.hh:40
shared_ptr< SplineGradientBased > Ptr_t
Definition: spline-gradient-based.hh:41
Definition: spline-gradient-based.hh:31
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
core::size_type size_type
Definition: fwd.hh:83