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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/steering-kinodynamic.hh>


Public Member Functions | |
| virtual SteeringMethodPtr_t | copy () const |
| Copy instance and return shared pointer. | |
| virtual PathPtr_t | impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
| create a path between two configurations | |
| double | computeMinTime (int index, double p1, double p2, double v1, double v2, interval_t *infInterval) const |
| computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2) | |
| virtual void | fixedTimeTrajectory (int index, double T, double p1, double p2, double v1, double v2, double *a1, double *t0, double *t1, double *tv, double *t2, double *vLim) const |
| fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension) | |
| void | setAmax (Vector3 aMax) |
| void | setVmax (Vector3 vMax) |
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 () |
| ProblemConstPtr_t | problem () const |
| void | constraints (const ConstraintSetPtr_t &constraints) |
| Set constraint set. | |
| const ConstraintSetPtr_t & | constraints () const |
| Get constraint set. | |
Static Public Member Functions | |
| static KinodynamicPtr_t | create (const ProblemConstPtr_t &problem) |
| Create an instance. | |
| static KinodynamicPtr_t | createCopy (const KinodynamicPtr_t &other) |
| Copy instance and return shared pointer. | |
Protected Member Functions | |
| Kinodynamic (const ProblemConstPtr_t &problem) | |
| Constructor. | |
| Kinodynamic (const Kinodynamic &other) | |
| Copy constructor. | |
| void | init (KinodynamicWkPtr_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) | |
| void | init (SteeringMethodWkPtr_t weak) |
| Store weak pointer to itself. | |
Protected Attributes | |
| Vector3 | aMax_ |
| Vector3 | vMax_ |
| double | aMaxFixed_ |
| double | aMaxFixed_Z_ |
| bool | synchronizeVerticalAxis_ |
| bool | orientedPath_ |
| bool | orientationIgnoreZValue_ |
Steering method that creates KinodynamicPath instances. It produce a "bang-bang" trajectory connecting exactly the two given state (position and velocity) which respect velocity and acceleration bounds defined by the user (see Problem parameters : Kinodynamic/velocityBound and Kinodynamic/accelerationBound)
Implementation based on the equation of the article https://ieeexplore.ieee.org/document/6943083
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Constructor.
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Copy constructor.
| double hpp::core::steeringMethod::Kinodynamic::computeMinTime | ( | int | index, |
| double | p1, | ||
| double | p2, | ||
| double | v1, | ||
| double | v2, | ||
| interval_t * | infInterval | ||
| ) | const |
computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2)
| p1 | position at state 1 |
| p2 | position at state 2 |
| v1 | velocity at state 1 |
| v2 | velocity at state 2 |
| infInterval | : infeasible interval |
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inlinevirtual |
Copy instance and return shared pointer.
Implements hpp::core::SteeringMethod.
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inlinestatic |
Create an instance.
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inlinestatic |
Copy instance and return shared pointer.
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fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension)
| T | lenght of the trajectory |
| p1 | position at state 1 |
| p2 | position at state 2 |
| v1 | velocity at state 1 |
| v2 | velocity at state 2 output : |
| a1 | acceleration during first phase |
| t1 | time of the first segment |
| tv | time of constant velocity segment (can be = 0) |
| t2 | time of the last segment |
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create a path between two configurations
Implements hpp::core::SteeringMethod.
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Store weak pointer to itself.
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