hpp-wholebody-step  4.12.0
Path planning for humanoid robot by sliding on the groud.
time-dependant.hh
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18 
19 #ifndef HPP_WHOLEBODY_STEP_TIME_DEPENDANT_HH
20 # define HPP_WHOLEBODY_STEP_TIME_DEPENDANT_HH
21 
22 # include <hpp/constraints/implicit.hh>
23 
24 # include <hpp/wholebody-step/fwd.hh>
25 
26 namespace hpp {
27  namespace wholebodyStep {
30  virtual void operator() (vectorOut_t output, const value_type& input)
31  const = 0;
32  };
33  typedef std::shared_ptr <const RightHandSideFunctor> RightHandSideFunctorPtr_t;
34 
36  {
37  void rhsAbscissa (const value_type s) const
38  {
39  (*rhsFunc_) (eq_->rightHandSide(), s);
40  }
41 
42  TimeDependant (const ImplicitPtr_t& eq,
43  const RightHandSideFunctorPtr_t rhs):
44  eq_ (eq), rhsFunc_ (rhs)
45  {}
46 
47  TimeDependant (const TimeDependant& other) :
48  eq_ (other.eq_), rhsFunc_ (other.rhsFunc_)
49  {}
50 
51  ImplicitPtr_t eq_;
52  RightHandSideFunctorPtr_t rhsFunc_;
53  }; // class TimeDependant
54  } // namespace wholebodyStep
55 } // namespace hpp
56 #endif // HPP_WHOLEBODY_STEP_TIME_DEPENDANT_HH
ImplicitPtr_t eq_
Definition: time-dependant.hh:51
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: static-stability-constraint.hh:31
Definition: fwd.hh:28
core::vectorOut_t vectorOut_t
Definition: fwd.hh:75
Definition: time-dependant.hh:35
std::shared_ptr< const RightHandSideFunctor > RightHandSideFunctorPtr_t
Definition: time-dependant.hh:33
core::value_type value_type
Definition: fwd.hh:76
RightHandSideFunctorPtr_t rhsFunc_
Definition: time-dependant.hh:52
#define HPP_WHOLEBODY_STEP_DLLAPI
Definition: config.hh:64
TimeDependant(const ImplicitPtr_t &eq, const RightHandSideFunctorPtr_t rhs)
Definition: time-dependant.hh:42
Definition: time-dependant.hh:29
void rhsAbscissa(const value_type s) const
Definition: time-dependant.hh:37
TimeDependant(const TimeDependant &other)
Definition: time-dependant.hh:47