19 #ifndef HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH 20 #define HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH 22 #include <hpp/core/path-optimization/random-shortcut.hh> 51 static RandomShortcutDynamicPtr_t
create(core::ProblemConstPtr_t problem);
54 virtual core::PathVectorPtr_t
optimize(
const core::PathVectorPtr_t& path);
59 core::PathPtr_t
steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2)
const;
64 double sizeFootX_, sizeFootY_;
65 bool rectangularContact_;
73 #endif // HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
Definition: algorithm.hh:27
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
std::shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
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)
std::shared_ptr< RandomShortcutDynamic > RandomShortcutDynamicPtr_t
Definition: random-shortcut-dynamic.hh:46
std::shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
Definition: random-shortcut-dynamic.hh:48