hpp-rbprm  4.14.0
Implementation of RB-PRM planner using hpp.
random-shortcut-dynamic.hh
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1 //
2 // Copyright (c) 2017 CNRS
3 // Authors: Pierre Fernbach
4 //
5 // This file is part of hpp-rbprm
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
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14 // General Lesser Public License for more details. You should have
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16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
20 #define HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
21 
22 #include <hpp/core/path-optimization/random-shortcut.hh>
25 
26 namespace hpp {
27 namespace rbprm {
30 
42 
43 // forward declaration
44 HPP_PREDEF_CLASS(RandomShortcutDynamic);
45 // Planner objects are manipulated only via shared pointers
46 typedef shared_ptr<RandomShortcutDynamic> RandomShortcutDynamicPtr_t;
47 
48 class RandomShortcutDynamic : public core::pathOptimization::RandomShortcut {
49  public:
51  static RandomShortcutDynamicPtr_t create(core::ProblemConstPtr_t problem);
52 
54  virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t& path);
55 
56  protected:
57  RandomShortcutDynamic(core::ProblemConstPtr_t problem);
58 
59  core::PathPtr_t steer(core::ConfigurationIn_t q1,
60  core::ConfigurationIn_t q2) const;
61 
62  private:
64  const RbPrmPathValidationPtr_t rbprmPathValidation_;
65  double sizeFootX_, sizeFootY_;
66  bool rectangularContact_;
67  bool tryJump_;
68  double mu_;
69 }; // class RandomShortcut
71 } // namespace rbprm
72 } // namespace hpp
73 
74 #endif // HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
Definition: algorithm.hh:26
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
shared_ptr< RandomShortcutDynamic > RandomShortcutDynamicPtr_t
Definition: random-shortcut-dynamic.hh:46
HPP_PREDEF_CLASS(RbPrmFullBody)
static RandomShortcutDynamicPtr_t create(core::ProblemConstPtr_t problem)
Return shared pointer to new object.
virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t &path)
Optimize path.
RandomShortcutDynamic(core::ProblemConstPtr_t problem)
shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
Definition: random-shortcut-dynamic.hh:48