19 #ifndef PP_RBPRM_TIME_DEPENDANT_HH 20 #define PP_RBPRM_TIME_DEPENDANT_HH 23 #include <hpp/constraints/implicit.hh> 28 namespace interpolation {
35 virtual void operator()(constraints::ImplicitPtr_t eq,
const constraints::value_type& input,
36 pinocchio::ConfigurationOut_t conf)
const = 0;
53 void operator()(
const constraints::value_type s, pinocchio::ConfigurationOut_t conf)
const {
54 (*rhsFunc_)(eq_, s, conf);
60 TimeDependant(
const constraints::ImplicitPtr_t& eq,
const RightHandSideFunctorPtr_t rhs) : eq_(eq), rhsFunc_(rhs) {}
64 constraints::ImplicitPtr_t
eq_;
73 #endif // PP_RBPRM_TIME_DEPENDANT_HH TimeDependant(const TimeDependant &other)
Definition: time-dependant.hh:62
Definition: algorithm.hh:27
void operator()(const constraints::value_type s, pinocchio::ConfigurationOut_t conf) const
Definition: time-dependant.hh:53
std::shared_ptr< const RightHandSideFunctor > RightHandSideFunctorPtr_t
Definition: time-dependant.hh:38
T_TimeDependant::const_iterator CIT_TimeDependant
Definition: time-dependant.hh:69
virtual void operator()(constraints::ImplicitPtr_t eq, const constraints::value_type &input, pinocchio::ConfigurationOut_t conf) const =0
Definition: time-dependant.hh:50
TimeDependant(const constraints::ImplicitPtr_t &eq, const RightHandSideFunctorPtr_t rhs)
Definition: time-dependant.hh:60
constraints::ImplicitPtr_t eq_
Definition: time-dependant.hh:64
RightHandSideFunctorPtr_t rhsFunc_
Definition: time-dependant.hh:65
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:68
Time varying right hand side of constraint.
Definition: time-dependant.hh:31