19 #ifndef HPP_TIME_CONSTRAINT_STEERING_HH 20 #define HPP_TIME_CONSTRAINT_STEERING_HH 22 #include <hpp/core/path-validation/discretized.hh> 23 #include <hpp/core/steering-method/straight.hh> 24 #include <hpp/core/straight-path.hh> 25 #include <hpp/core/problem.hh> 26 #include <hpp/core/distance.hh> 27 #include <hpp/core/config-projector.hh> 33 namespace interpolation {
40 template <
class Path_T>
42 typedef Path_T path_t;
43 typedef std::shared_ptr<TimeConstraintSteering> TimeConstraintSteeringPtr_t;
44 typedef std::weak_ptr<TimeConstraintSteering> TimeConstraintSteeringWkPtr_t;
48 static TimeConstraintSteeringPtr_t
create(
const core::ProblemPtr_t& problem,
const std::size_t pathDofRank) {
50 TimeConstraintSteeringPtr_t shPtr(ptr);
55 static TimeConstraintSteeringPtr_t
create(
const core::DevicePtr_t& device,
56 const core::WeighedDistancePtr_t&
distance,
57 const std::size_t pathDofRank) HPP_CORE_DEPRECATED {
59 TimeConstraintSteeringPtr_t shPtr(ptr);
64 static TimeConstraintSteeringPtr_t
createCopy(
const TimeConstraintSteeringPtr_t& other) {
66 TimeConstraintSteeringPtr_t shPtr(ptr);
71 virtual core::SteeringMethodPtr_t
copy()
const {
return createCopy(weak_.lock()); }
74 virtual core::PathPtr_t
impl_compute(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2)
const {
75 core::value_type length = problem()->distance()->operator()(q1, q2);
76 core::ConstraintSetPtr_t c;
77 if (constraints() && constraints()->configProjector()) {
78 c = HPP_STATIC_PTR_CAST(core::ConstraintSet, constraints()->
copy());
79 c->configProjector()->rightHandSideFromConfig(q1);
83 core::PathPtr_t path = path_t::create(problem()->robot(), q1, q2, length, c, pathDofRank_,
tds_);
91 : core::steeringMethod::Straight(problem), pathDofRank_(pathDofRank), weak_() {}
103 : core::steeringMethod::Straight(other), pathDofRank_(other.pathDofRank_), weak_(),
tds_(other.
tds_) {}
106 void init(TimeConstraintSteeringWkPtr_t weak) {
107 core::steeringMethod::Straight::init(weak);
112 const core::PathPtr_t model_;
113 const std::size_t pathDofRank_;
114 TimeConstraintSteeringWkPtr_t weak_;
124 #endif // HPP_TIME_CONSTRAINT_STEERING_HH virtual core::SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: time-constraint-steering.hh:71
Definition: algorithm.hh:27
static TimeConstraintSteeringPtr_t create(const core::DevicePtr_t &device, const core::WeighedDistancePtr_t &distance, const std::size_t pathDofRank) HPP_CORE_DEPRECATED
Create instance and return shared pointer.
Definition: time-constraint-steering.hh:55
TimeConstraintSteering(const TimeConstraintSteering &other)
Copy constructor.
Definition: time-constraint-steering.hh:102
static TimeConstraintSteeringPtr_t create(const core::ProblemPtr_t &problem, const std::size_t pathDofRank)
Create instance and return shared pointer.
Definition: time-constraint-steering.hh:48
TimeConstraintSteering(const core::ProblemPtr_t &problem, const std::size_t pathDofRank)
Definition: time-constraint-steering.hh:90
void init(TimeConstraintSteeringWkPtr_t weak)
Store weak pointer to itself.
Definition: time-constraint-steering.hh:106
virtual core::PathPtr_t impl_compute(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
create a path between two configurations
Definition: time-constraint-steering.hh:74
T_TimeDependant tds_
Definition: time-constraint-steering.hh:117
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:68
static TimeConstraintSteeringPtr_t createCopy(const TimeConstraintSteeringPtr_t &other)
Copy instance and return shared pointer.
Definition: time-constraint-steering.hh:64
Definition: time-constraint-steering.hh:41