hpp-rbprm  4.13.0
Implementation of RB-PRM planner using hpp.
com-rrt-shooter.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm 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 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_COM_RRT_SHOOTER_HH
20 #define HPP_RBPRM_COM_RRT_SHOOTER_HH
21 
22 #include <hpp/core/path.hh>
23 #include <hpp/pinocchio/device.hh>
24 #include <hpp/rbprm/config.hh>
27 #include <vector>
28 
29 namespace hpp {
30 namespace rbprm {
31 namespace interpolation {
32 
34  ComRRTShooterFactory(core::PathPtr_t guidePath) : guidePath_(guidePath) {}
37  const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath,
38  const std::size_t pathDofRank, const hpp::rbprm::State &from,
39  const hpp::rbprm::State &to, const T_TimeDependant &tds,
40  core::ConfigProjectorPtr_t projector) const;
41  core::PathPtr_t guidePath_;
42 };
43 
45  EffectorRRTShooterFactory(core::PathPtr_t guidePath)
46  : guidePath_(guidePath) {}
49  const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath,
50  const std::size_t pathDofRank, const hpp::rbprm::State &from,
51  const hpp::rbprm::State &to, const T_TimeDependant &tds,
52  core::ConfigProjectorPtr_t projector) const;
53  core::PathPtr_t guidePath_;
54 };
56 } // namespace interpolation
57 } // namespace rbprm
58 } // namespace hpp
59 
60 #endif // HPP_RBPRM_COM_RRT_SHOOTER_HH
ComRRTShooterFactory(core::PathPtr_t guidePath)
Definition: com-rrt-shooter.hh:34
Definition: algorithm.hh:26
Definition: com-rrt-shooter.hh:33
TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector) const
shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:35
core::PathPtr_t guidePath_
Definition: com-rrt-shooter.hh:41
~ComRRTShooterFactory()
Definition: com-rrt-shooter.hh:35
EffectorRRTShooterFactory(core::PathPtr_t guidePath)
Definition: com-rrt-shooter.hh:45
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:73
Definition: rbprm-state.hh:40
~EffectorRRTShooterFactory()
Definition: com-rrt-shooter.hh:47
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11
core::PathPtr_t guidePath_
Definition: com-rrt-shooter.hh:53