hpp-manipulation  4.15.1
Classes for manipulation planning.
end-effector-trajectory.hh
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1 // Copyright (c) 2019, LAAS-CNRS
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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28 
29 #ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
30 #define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
31 
32 #include <hpp/core/steering-method.hh>
34 #include <hpp/manipulation/fwd.hh>
35 
36 namespace hpp {
37 namespace manipulation {
40 namespace steeringMethod {
41 HPP_PREDEF_CLASS(EndEffectorTrajectory);
42 typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
43 
44 using core::PathPtr_t;
45 
48  : public core::SteeringMethod {
49  public:
50  typedef core::interval_t interval_t;
51 
52  static EndEffectorTrajectoryPtr_t create(
53  const core::ProblemConstPtr_t& problem) {
54  EndEffectorTrajectoryPtr_t ptr(new EndEffectorTrajectory(problem));
55  ptr->init(ptr);
56  return ptr;
57  }
58 
63  static PathPtr_t makePiecewiseLinearTrajectory(matrixIn_t points,
64  vectorIn_t weights);
65 
67  void trajectoryConstraint(const constraints::ImplicitPtr_t& ic);
68 
70  return constraint_;
71  }
72 
76  void trajectory(const PathPtr_t& eeTraj, bool se3Output);
77 
81  void trajectory(const DifferentiableFunctionPtr_t& eeTraj,
82  const interval_t& timeRange);
83 
84  const DifferentiableFunctionPtr_t& trajectory() const { return eeTraj_; }
85 
86  const interval_t& timeRange() const { return timeRange_; }
87 
89  EndEffectorTrajectoryPtr_t ptr(new EndEffectorTrajectory(*this));
90  ptr->init(ptr);
91  return ptr;
92  }
93 
98  PathPtr_t projectedPath(vectorIn_t times, matrixIn_t configs) const;
99 
100  protected:
102  : core::SteeringMethod(problem) {}
103 
105  : core::SteeringMethod(other),
106  eeTraj_(other.eeTraj_),
107  timeRange_(other.timeRange_),
108  constraint_(other.constraint_) {}
109 
110  PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
111 
112  private:
113  core::ConstraintSetPtr_t getUpdatedConstraints() const;
114 
116  interval_t timeRange_;
117  constraints::ImplicitPtr_t constraint_;
118 };
119 } // namespace steeringMethod
121 } // namespace manipulation
122 } // namespace hpp
123 
124 #endif // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:69
Definition: main.hh:1
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
Definition: graph.hh:43
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