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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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Concatenation of several paths. More...
#include <hpp/core/path-vector.hh>


Public Types | |
| typedef Path | parent_t |
Public Member Functions | |
| std::size_t | numberPaths () const |
| Get the number of sub paths. | |
| PathPtr_t | pathAtRank (std::size_t rank) const |
| std::size_t | rankAtParam (const value_type ¶m, value_type &localParam) const |
| void | appendPath (const PathPtr_t &path) |
| Append a path at the end of the vector. | |
| void | concatenate (const PathVectorPtr_t &path) |
| virtual Configuration_t | initial () const |
| Get the initial configuration. | |
| virtual Configuration_t | end () const |
| Get the final configuration. | |
| void | flatten (PathVectorPtr_t flattenedPath) const |
| virtual PathPtr_t | reverse () const |
| Reversion of a path. | |
Public Member Functions inherited from hpp::core::Path | |
| virtual | ~Path () |
| Destructor. | |
| template<class T > | |
| shared_ptr< T > | as (void) |
| Static cast into a derived type. | |
| template<class T > | |
| shared_ptr< const T > | as (void) const |
| Static cast into a derived type. | |
| PathPtr_t | extract (const interval_t &subInterval) const |
| PathPtr_t | extract (const value_type &tmin, const value_type &tmax) const |
| Configuration_t | eval (const value_type &time, bool &success) const |
| Configuration at time. | |
| bool | eval (ConfigurationOut_t result, const value_type &time) const |
| Configuration at time. | |
| bool | at (const value_type &time, ConfigurationOut_t result) const |
| Get the configuration at a parameter without applying the constraints. | |
| void | derivative (vectorOut_t result, const value_type &time, size_type order) const |
| void | velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const |
| size_type | outputSize () const |
| Get size of configuration space. | |
| size_type | outputDerivativeSize () const |
| Get size of velocity. | |
| const interval_t & | timeRange () const |
| Get interval of definition. | |
| virtual value_type | length () const |
| Get length of definition interval. | |
| const ConstraintSetPtr_t & | constraints () const |
| Get constraints the path is subject to. | |
| const interval_t & | paramRange () const |
| const TimeParameterizationPtr_t & | timeParameterization () const |
| Get the time parameterization function. | |
| void | timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr) |
| Set the time parameterization function. | |
Protected Member Functions | |
| virtual std::ostream & | print (std::ostream &os) const |
| Print path in a stream. | |
| PathVector (std::size_t outputSize, std::size_t outputDerivativeSize) | |
| Constructor. | |
| PathVector (std::size_t outputSize, std::size_t outputDerivativeSize, const ConstraintSetPtr_t &constraint) | |
| Constructor. | |
| PathVector (const PathVector &path) | |
| Copy constructor. | |
| PathVector (const PathVector &path, const ConstraintSetPtr_t &constraints) | |
| Copy constructor with constraints. | |
| void | init (PathVectorPtr_t self) |
| virtual bool | impl_compute (ConfigurationOut_t result, value_type t) const |
| Function evaluation without applying constraints. | |
| virtual void | impl_derivative (vectorOut_t result, const value_type &t, size_type order) const |
| Virtual implementation of derivative. | |
| virtual PathPtr_t | impl_extract (const interval_t &subInterval) const |
| virtual void | impl_velocityBound (vectorOut_t bound, const value_type ¶m0, const value_type ¶m1) const |
| Virtual implementation of velocity bound. | |
| PathVector () | |
Protected Member Functions inherited from hpp::core::Path | |
| Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints) | |
| Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize) | |
| Path (const Path &path) | |
| Copy constructor. | |
| Path (const Path &path, const ConstraintSetPtr_t &constraints) | |
| Copy constructor with constraints. | |
| void | init (const PathWkPtr_t &self) |
| void | constraints (const ConstraintSetPtr_t &constraint) |
| virtual void | checkPath () const |
| Should be called by child classes after having init. | |
| void | timeRange (const interval_t &timeRange) |
| value_type | paramLength () const |
| Configuration_t | configAtParam (const value_type ¶m, bool &success) const |
| Path () | |
Construction, destruction, copy | |
| static PathVectorPtr_t | create (size_type outputSize, size_type outputDerivativeSize) |
| Create instance and return shared pointer. | |
| static PathVectorPtr_t | create (size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraint) |
| Create instance and return shared pointer. | |
| static PathVectorPtr_t | createCopy (const PathVectorPtr_t &original) |
| Create instance and return shared pointer. | |
| static PathVectorPtr_t | createCopy (const PathVectorPtr_t &original, const ConstraintSetPtr_t &constraints) |
| Create instance and return shared pointer. | |
| virtual PathPtr_t | copy () const |
| Return a shared pointer to a copy of this. | |
| virtual PathPtr_t | copy (const ConstraintSetPtr_t &constraints) const |
| virtual | ~PathVector () |
| Destructor. | |
Additional Inherited Members | |
Protected Attributes inherited from hpp::core::Path | |
| interval_t | paramRange_ |
| Interval of parameters. | |
Concatenation of several paths.
| typedef Path hpp::core::PathVector::parent_t |
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inlinevirtual |
Destructor.
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inlineprotected |
Constructor.
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inlineprotected |
Constructor.
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inlineprotected |
Copy constructor.
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inlineprotected |
Copy constructor with constraints.
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inlineprotected |
| void hpp::core::PathVector::appendPath | ( | const PathPtr_t & | path | ) |
Append a path at the end of the vector.
| void hpp::core::PathVector::concatenate | ( | const PathVectorPtr_t & | path | ) |
Concatenate two vectors of path
| path | path to append at the end of this one |
Each element of path is appended to this one.
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inlinevirtual |
Return a shared pointer to a copy of this.
Implements hpp::core::Path.
Reimplemented in hpp::core::DubinsPath.
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inlinevirtual |
Return a shared pointer to a copy of this with constraints
| constraints | constraints to apply to the copy |
Implements hpp::core::Path.
Reimplemented in hpp::core::DubinsPath.
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inlinestatic |
Create instance and return shared pointer.
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inlinestatic |
Create instance and return shared pointer.
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inlinestatic |
Create instance and return shared pointer.
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inlinestatic |
Create instance and return shared pointer.
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inlinevirtual |
| void hpp::core::PathVector::flatten | ( | PathVectorPtr_t | flattenedPath | ) | const |
Return the a path vector representing the same path but ensuring that there is no PathVector in the PathVector.
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protectedvirtual |
Function evaluation without applying constraints.
Implements hpp::core::Path.
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protectedvirtual |
Virtual implementation of derivative.
Reimplemented from hpp::core::Path.
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protectedvirtual |
Extraction of a sub-path
| subInterval | interval of definition of the extract path |
Reimplemented from hpp::core::Path.
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protectedvirtual |
Virtual implementation of velocity bound.
Reimplemented from hpp::core::Path.
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inlineprotected |
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inlinevirtual |
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inline |
Get the number of sub paths.
| PathPtr_t hpp::core::PathVector::pathAtRank | ( | std::size_t | rank | ) | const |
Get a path in the vector
| rank | rank of the path in the vector. Should be between 0 and numberPaths (). |
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protectedvirtual |
| std::size_t hpp::core::PathVector::rankAtParam | ( | const value_type & | param, |
| value_type & | localParam | ||
| ) | const |
Get rank of direct path in vector at param
| param | parameter in interval of definition, |
| localParam | parameter on sub-path |
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virtual |
Reversion of a path.
Reimplemented from hpp::core::Path.