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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/steering-method/car-like.hh>


Public Member Functions | |
| virtual | ~CarLike () |
| void | setWheelJoints (const std::vector< JointPtr_t > wheels) |
| Set the wheels. | |
| void | turningRadius (const value_type &rho) |
| value_type | turningRadius () const |
Public Member Functions inherited from hpp::core::SteeringMethod | |
| PathPtr_t | operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
| PathPtr_t | steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
| virtual | ~SteeringMethod () |
| virtual SteeringMethodPtr_t | copy () const =0 |
| Copy instance and return shared pointer. | |
| ProblemConstPtr_t | problem () const |
| void | constraints (const ConstraintSetPtr_t &constraints) |
| Set constraint set. | |
| const ConstraintSetPtr_t & | constraints () const |
| Get constraint set. | |
Protected Member Functions | |
| CarLike (const ProblemConstPtr_t &problem) | |
| Constructor. | |
| CarLike (const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels) | |
| Constructor. | |
| CarLike (const CarLike &other) | |
| Copy constructor. | |
| void | init (CarLikeWkPtr_t weak) |
| Store weak pointer to itself. | |
Protected Member Functions inherited from hpp::core::SteeringMethod | |
| SteeringMethod (const ProblemConstPtr_t &problem) | |
| Constructor. | |
| SteeringMethod (const SteeringMethod &other) | |
| virtual PathPtr_t | impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0 |
| create a path between two configurations | |
| void | init (SteeringMethodWkPtr_t weak) |
| Store weak pointer to itself. | |
Protected Attributes | |
| DeviceWkPtr_t | device_ |
| value_type | rho_ |
| Turning radius. | |
| JointPtr_t | xy_ |
| JointPtr_t | rz_ |
| size_type | xyId_ |
| size_type | rzId_ |
| std::vector< JointPtr_t > | wheels_ |
Abstract class that implements various type of trajectories for carlike vehicles
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Constructor.
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Constructor.
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Copy constructor.
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Store weak pointer to itself.
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Set the wheels.
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| void hpp::core::steeringMethod::CarLike::turningRadius | ( | const value_type & | rho | ) |
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Turning radius.
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