hpp-rbprm
4.12.0
Implementation of RB-PRM planner using hpp.
|
#include <hpp/rbprm/interpolation/interpolation-constraints.hh>
Public Member Functions | |
VecRightSide (const Reference ref, const int dim=3, const bool times_ten=false) | |
~VecRightSide () | |
virtual void | operator() (constraints::ImplicitPtr_t eq, const constraints::value_type &normalized_input, pinocchio::ConfigurationOut_t) const |
Public Attributes | |
const Reference | ref_ |
Reference path of the right hand side of the constraint. More... | |
const int | dim_ |
Dimension of the right hand side of the constraint. More... | |
const bool | times_ten_ |
Time varying right hand side of constraint
Reference | type of shared pointer to Path. |
This class compute the right hand side of a constraints::Implicit instance as a mapping from interval [0,1] to a vector space called reference.
|
inline |
Constructor
ref | mapping defining the varying right hand side, the definition interval may not be [0,1] and will be normalized at evaluation. |
dim | dimension of the right hand side. If the dimension of the output of ref is bigger than dim, only the first coefficients will be used. |
|
inline |
|
inlinevirtual |
Compute and set right hand side of constraint.
eq | Implicit constraint, |
normalized_input | real valued parameter between 0 and 1, mapped in an affine way to a value in the definition interval of the reference path. |
If is the normalized input and
the definition interval of
, then
Implements hpp::rbprm::interpolation::RightHandSideFunctor.
const int hpp::rbprm::interpolation::VecRightSide< Reference >::dim_ |
Dimension of the right hand side of the constraint.
const Reference hpp::rbprm::interpolation::VecRightSide< Reference >::ref_ |
Reference path of the right hand side of the constraint.
const bool hpp::rbprm::interpolation::VecRightSide< Reference >::times_ten_ |