hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
hpp::rbprm::interpolation::ComTrajectory Class Reference

#include <hpp/rbprm/interpolation/com-trajectory.hh>

Inheritance diagram for hpp::rbprm::interpolation::ComTrajectory:
Collaboration diagram for hpp::rbprm::interpolation::ComTrajectory:

Public Types

typedef Path parent_t
 

Public Member Functions

virtual ~ComTrajectory ()
 Destructor. More...
 
virtual core::PathPtr_t copy () const
 
virtual core::PathPtr_t extract (const core::interval_t &subInterval) const
 
core::Configuration_t initial () const
 Get the initial configuration. More...
 
core::Configuration_t end () const
 Get the final configuration. More...
 
virtual void checkPath () const
 

Static Public Member Functions

static ComTrajectoryPtr_t create (pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length)
 
static ComTrajectoryPtr_t createCopy (const ComTrajectoryPtr_t &path)
 

Public Attributes

const pinocchio::vector3_t initial_
 
const pinocchio::vector3_t end_
 
const pinocchio::vector3_t initSpeed_
 
const pinocchio::vector3_t half_acceleration_
 
const pinocchio::vector3_t acceleration_
 
const pinocchio::value_type length_
 

Protected Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream. More...
 
 ComTrajectory (pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length)
 Constructor. More...
 
 ComTrajectory (const ComTrajectory &path)
 Copy constructor. More...
 
void init (ComTrajectoryPtr_t self)
 
virtual bool impl_compute (core::ConfigurationOut_t result, core::value_type param) const
 
virtual core::PathPtr_t copy (const core::ConstraintSetPtr_t &) const
 

Detailed Description

Linear interpolation between two configurations

Degrees of freedom are interpolated depending on the type of joint they parameterize:

  • linear interpolation for translation joints, bounded rotation joints, and translation part of freeflyer joints,
  • angular interpolation for unbounded rotation joints,
  • constant angular velocity for SO(3) part of freeflyer joints.

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~ComTrajectory()

virtual hpp::rbprm::interpolation::ComTrajectory::~ComTrajectory ( )
inlinevirtual

Destructor.

◆ ComTrajectory() [1/2]

hpp::rbprm::interpolation::ComTrajectory::ComTrajectory ( pinocchio::vector3_t  init,
pinocchio::vector3_t  end,
pinocchio::vector3_t  initSpeed,
pinocchio::vector3_t  acceleration,
core::value_type  length 
)
protected

Constructor.

◆ ComTrajectory() [2/2]

hpp::rbprm::interpolation::ComTrajectory::ComTrajectory ( const ComTrajectory path)
protected

Copy constructor.

Member Function Documentation

◆ checkPath()

virtual void hpp::rbprm::interpolation::ComTrajectory::checkPath ( ) const
inlinevirtual

◆ copy() [1/2]

virtual core::PathPtr_t hpp::rbprm::interpolation::ComTrajectory::copy ( ) const
inlinevirtual

Return a shared pointer to this

As ComTrajectoryP are immutable, and refered to by shared pointers, they do not need to be copied.

◆ copy() [2/2]

virtual core::PathPtr_t hpp::rbprm::interpolation::ComTrajectory::copy ( const core::ConstraintSetPtr_t &  ) const
inlineprotectedvirtual

◆ create()

static ComTrajectoryPtr_t hpp::rbprm::interpolation::ComTrajectory::create ( pinocchio::vector3_t  init,
pinocchio::vector3_t  end,
pinocchio::vector3_t  initSpeed,
pinocchio::vector3_t  acceleration,
core::value_type  length 
)
inlinestatic

Create instance and return shared pointer

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
lengthDistance between the configurations.

◆ createCopy()

static ComTrajectoryPtr_t hpp::rbprm::interpolation::ComTrajectory::createCopy ( const ComTrajectoryPtr_t path)
inlinestatic

Create copy and return shared pointer

Parameters
pathpath to copy

◆ end()

core::Configuration_t hpp::rbprm::interpolation::ComTrajectory::end ( ) const
inline

Get the final configuration.

◆ extract()

virtual core::PathPtr_t hpp::rbprm::interpolation::ComTrajectory::extract ( const core::interval_t &  subInterval) const
virtual

Extraction/Reversion of a sub-path

Parameters
subIntervalinterval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed.

◆ impl_compute()

virtual bool hpp::rbprm::interpolation::ComTrajectory::impl_compute ( core::ConfigurationOut_t  result,
core::value_type  param 
) const
protectedvirtual

◆ init()

void hpp::rbprm::interpolation::ComTrajectory::init ( ComTrajectoryPtr_t  self)
inlineprotected

◆ initial()

core::Configuration_t hpp::rbprm::interpolation::ComTrajectory::initial ( ) const
inline

Get the initial configuration.

◆ print()

virtual std::ostream& hpp::rbprm::interpolation::ComTrajectory::print ( std::ostream &  os) const
inlineprotectedvirtual

Print path in a stream.

Member Data Documentation

◆ acceleration_

const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::acceleration_

◆ end_

const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::end_

◆ half_acceleration_

const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::half_acceleration_

◆ initial_

const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::initial_

◆ initSpeed_

const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::initSpeed_

◆ length_

const pinocchio::value_type hpp::rbprm::interpolation::ComTrajectory::length_

The documentation for this class was generated from the following file: