29 #ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH 30 #define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH 32 #include <hpp/core/steering-method.hh> 37 namespace manipulation {
40 namespace steeringMethod {
44 using core::PathPtr_t;
48 :
public core::SteeringMethod {
52 static EndEffectorTrajectoryPtr_t
create(
63 static PathPtr_t makePiecewiseLinearTrajectory(
matrixIn_t points,
76 void trajectory(
const PathPtr_t& eeTraj,
bool se3Output);
82 const interval_t& timeRange);
86 const interval_t&
timeRange()
const {
return timeRange_; }
106 eeTraj_(other.eeTraj_),
107 timeRange_(other.timeRange_),
108 constraint_(other.constraint_) {}
116 interval_t timeRange_;
124 #endif // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:69
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
core::vectorIn_t vectorIn_t
Definition: fwd.hh:94
Build StraightPath constrained by a varying right hand side constraint.
Definition: end-effector-trajectory.hh:47
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:67
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:101
core::matrixIn_t matrixIn_t
Definition: fwd.hh:132
HPP_PREDEF_CLASS(EndEffectorTrajectory)
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:42
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:123
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:116
static EndEffectorTrajectoryPtr_t create(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:52
core::interval_t interval_t
Definition: end-effector-trajectory.hh:50
core::SteeringMethodPtr_t copy() const
Definition: end-effector-trajectory.hh:88
const DifferentiableFunctionPtr_t & trajectory() const
Definition: end-effector-trajectory.hh:84
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:124
const interval_t & timeRange() const
Definition: end-effector-trajectory.hh:86
EndEffectorTrajectory(const EndEffectorTrajectory &other)
Definition: end-effector-trajectory.hh:104
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:101