19 #ifndef HPP_RBPRM_COM_TRAJECTORY_HH 20 #define HPP_RBPRM_COM_TRAJECTORY_HH 22 #include <hpp/core/config.hh> 23 #include <hpp/core/fwd.hh> 24 #include <hpp/core/path.hh> 29 namespace interpolation {
51 static ComTrajectoryPtr_t
create(pinocchio::vector3_t init,
52 pinocchio::vector3_t end,
53 pinocchio::vector3_t initSpeed,
54 pinocchio::vector3_t acceleration,
55 core::value_type length) {
57 new ComTrajectory(init, end, initSpeed, acceleration, length);
58 ComTrajectoryPtr_t shPtr(ptr);
66 static ComTrajectoryPtr_t
createCopy(
const ComTrajectoryPtr_t& path) {
68 ComTrajectoryPtr_t shPtr(ptr);
78 virtual core::PathPtr_t
copy()
const {
return createCopy(weak_.lock()); }
84 virtual core::PathPtr_t extract(
const core::interval_t& subInterval)
const;
87 core::Configuration_t
initial()
const {
return initial_; }
90 core::Configuration_t
end()
const {
return end_; }
96 virtual std::ostream&
print(std::ostream& os)
const {
97 os <<
"ComTrajectory:" << std::endl;
98 os <<
"interval: [ " << timeRange().first <<
", " << timeRange().second
100 os <<
"initial configuration: " << initial_ << std::endl;
101 os <<
"final configuration: " << end_ << std::endl;
102 os <<
"init speed: " << initSpeed_ << std::endl;
103 os <<
"acceleration (constant): " << (acceleration_) << std::endl;
107 ComTrajectory(pinocchio::vector3_t init, pinocchio::vector3_t end,
108 pinocchio::vector3_t initSpeed,
109 pinocchio::vector3_t acceleration, core::value_type length);
114 void init(ComTrajectoryPtr_t
self) {
115 parent_t::init(
self);
119 virtual bool impl_compute(core::ConfigurationOut_t result,
120 core::value_type param)
const;
122 virtual core::PathPtr_t
copy(
const core::ConstraintSetPtr_t&)
const {
throw; }
126 const pinocchio::vector3_t
end_;
133 ComTrajectoryWkPtr_t weak_;
138 #endif // HPP_RBPRM_COM_TRAJECTORY_HH virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t &) const
Definition: com-trajectory.hh:122
Definition: algorithm.hh:26
static ComTrajectoryPtr_t create(pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length)
Definition: com-trajectory.hh:51
Path parent_t
Definition: com-trajectory.hh:43
core::Configuration_t end() const
Get the final configuration.
Definition: com-trajectory.hh:90
virtual void checkPath() const
Definition: com-trajectory.hh:92
static ComTrajectoryPtr_t createCopy(const ComTrajectoryPtr_t &path)
Definition: com-trajectory.hh:66
core::Configuration_t initial() const
Get the initial configuration.
Definition: com-trajectory.hh:87
void init(ComTrajectoryPtr_t self)
Definition: com-trajectory.hh:114
const pinocchio::vector3_t initSpeed_
Definition: com-trajectory.hh:127
virtual core::PathPtr_t copy() const
Definition: com-trajectory.hh:78
Definition: com-trajectory.hh:41
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: com-trajectory.hh:96
const pinocchio::vector3_t initial_
Definition: com-trajectory.hh:125
const pinocchio::vector3_t end_
Definition: com-trajectory.hh:126
const pinocchio::vector3_t acceleration_
Definition: com-trajectory.hh:129
const pinocchio::vector3_t half_acceleration_
Definition: com-trajectory.hh:128
virtual ~ComTrajectory()
Destructor.
Definition: com-trajectory.hh:45
const pinocchio::value_type length_
Definition: com-trajectory.hh:130
HPP_PREDEF_CLASS(ComTrajectory)
shared_ptr< ComTrajectory > ComTrajectoryPtr_t
Definition: com-trajectory.hh:31