19 #ifndef HPP_RBPRM_COM_RRT_HH 20 #define HPP_RBPRM_COM_RRT_HH 30 #include <hpp/core/path.hh> 31 #include <hpp/core/problem.hh> 32 #include <hpp/core/config-projector.hh> 39 namespace interpolation {
49 const State& startState,
const State& nextState,
const std::size_t numOptimizations,
50 const bool keepExtraDof =
54 const State& startState,
const State& nextState,
const std::size_t numOptimizations,
55 const bool keepExtraDof =
false);
58 const PathPtr_t comPath,
const PathPtr_t guidePath,
const CIT_StateFrame& startState,
59 const CIT_StateFrame& endState,
const std::size_t numOptimizations);
62 const State& model,
const fcl::Vec3f& targetCom,
bool& success);
71 #endif // HPP_RBPRM_COM_RRT_HH
std::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)
Definition: algorithm.hh:27
TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > ComRRTHelper
Definition: com-rrt.hh:41
core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
void operator()(ComRRTHelper &helper, const State &from, const State &to) const
Definition: com-rrt.hh:44
Definition: rbprm-state.hh:40
Definition: time-constraint-helper.hh:46