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| std::vector< JointPtr_t > | hpp::core::steeringMethod::getWheelsFromParameter (const ProblemConstPtr_t &problem, const JointPtr_t &rz) |
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| PathVectorPtr_t | hpp::core::steeringMethod::reedsSheppPathOrDistance (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type extraLength, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints, bool computeDistance, value_type &distance) |
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| static StraightPtr_t | hpp::core::steeringMethod::Straight::create (const ProblemConstPtr_t &problem) |
| | Create instance and return shared pointer.
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| static StraightPtr_t | hpp::core::steeringMethod::Straight::createCopy (const StraightPtr_t &other) |
| | Copy instance and return shared pointer.
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| virtual SteeringMethodPtr_t | hpp::core::steeringMethod::Straight::copy () const |
| | Copy instance and return shared pointer.
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| virtual PathPtr_t | hpp::core::steeringMethod::Straight::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
| | create a path between two configurations
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| | hpp::core::steeringMethod::Straight::Straight (const ProblemConstPtr_t &problem) |
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| | hpp::core::steeringMethod::Straight::Straight (const Straight &other) |
| | Copy constructor.
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| void | hpp::core::steeringMethod::Straight::init (StraightWkPtr_t weak) |
| | Store weak pointer to itself.
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Some system are subject to kinematic or dynamic constraints. Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another.
◆ copy()
◆ create()
Create instance and return shared pointer.
◆ createCopy()
Copy instance and return shared pointer.
◆ getWheelsFromParameter()
◆ impl_compute()
◆ init()
| void hpp::core::steeringMethod::Straight::init |
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StraightWkPtr_t |
weak | ) |
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inlineprotected |
Store weak pointer to itself.
◆ reedsSheppPathOrDistance()
| PathVectorPtr_t hpp::core::steeringMethod::reedsSheppPathOrDistance |
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const DevicePtr_t & |
device, |
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ConfigurationIn_t |
init, |
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ConfigurationIn_t |
end, |
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value_type |
extraLength, |
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value_type |
rho, |
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size_type |
xyId, |
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size_type |
rzId, |
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const std::vector< JointPtr_t > |
wheels, |
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ConstraintSetPtr_t |
constraints, |
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bool |
computeDistance, |
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value_type & |
distance |
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) |
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Create a Reeds and Shepp path and return shared pointer
- Parameters
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| device | Robot corresponding to configurations, |
| init,end | start and end configurations of the path, |
| extraLength | the length of the path due to the non RS DoF, |
| rho | The radius of a turn, |
| xyId,rzId | indices in configuration vector of the joints corresponding to the translation and rotation of the car. |
◆ Straight() [1/2]
Constructor with robot Weighed distance is created from robot
◆ Straight() [2/2]
| hpp::core::steeringMethod::Straight::Straight |
( |
const Straight & |
other | ) |
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inlineprotected |