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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/straight-path.hh>


Public Types | |
| typedef Path | parent_t |
Public Member Functions | |
| virtual | ~StraightPath () |
| Destructor. | |
| virtual PathPtr_t | copy () const |
| virtual PathPtr_t | copy (const ConstraintSetPtr_t &constraints) const |
| void | initialConfig (ConfigurationIn_t initial) |
| void | endConfig (ConfigurationIn_t end) |
| Configuration_t | initial () const |
| Get the initial configuration. | |
| Configuration_t | end () const |
| Get the final configuration. | |
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 |
| virtual PathPtr_t | reverse () 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. | |
Static Public Member Functions | |
| static StraightPathPtr_t | create (LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t()) |
| static StraightPathPtr_t | create (LiegroupElementConstRef init, LiegroupElementConstRef end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t()) |
| static StraightPathPtr_t | create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints=ConstraintSetPtr_t()) |
| static StraightPathPtr_t | create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t()) |
| static StraightPathPtr_t | createCopy (const StraightPathPtr_t &path) |
| static StraightPathPtr_t | createCopy (const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints) |
Protected Member Functions | |
| virtual std::ostream & | print (std::ostream &os) const |
| Print path in a stream. | |
| StraightPath (LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval) | |
| Constructor. | |
| StraightPath (LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints) | |
| Constructor. | |
| StraightPath (const StraightPath &path) | |
| Copy constructor. | |
| StraightPath (const StraightPath &path, const ConstraintSetPtr_t &constraints) | |
| Copy constructor with constraints. | |
| void | init (StraightPathPtr_t self) |
| virtual bool | impl_compute (ConfigurationOut_t result, value_type param) 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 void | impl_velocityBound (vectorOut_t result, const value_type &, const value_type &) const |
| PathPtr_t | impl_extract (const interval_t &subInterval) const |
| StraightPath () | |
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 () | |
Protected Attributes | |
| LiegroupSpacePtr_t | space_ |
| Configuration_t | initial_ |
| Configuration_t | end_ |
Protected Attributes inherited from hpp::core::Path | |
| interval_t | paramRange_ |
| Interval of parameters. | |
Linear interpolation between two configurations
Degrees of freedom are interpolated depending on the type of joint they parameterize:
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inlinevirtual |
Destructor.
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protected |
Constructor.
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protected |
Constructor.
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protected |
Copy constructor.
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protected |
Copy constructor with constraints.
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inlineprotected |
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inlinevirtual |
Return a shared pointer to this
As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.
Implements hpp::core::Path.
Reimplemented in hpp::core::KinodynamicOrientedPath, and hpp::core::KinodynamicPath.
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inlinevirtual |
Return a shared pointer to a copy of this and set constraints
| constraints | constraints to apply to the copy |
Implements hpp::core::Path.
Reimplemented in hpp::core::KinodynamicOrientedPath, and hpp::core::KinodynamicPath.
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static |
Create instance and return shared pointer
| device | Robot corresponding to configurations |
| init,end | Start and end configurations of the path |
| interval | interval of definition. |
| constraints | the path is subject to |
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inlinestatic |
Create instance and return shared pointer
| device | Robot corresponding to configurations |
| init,end | Start and end configurations of the path |
| length | Distance between the configurations. |
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inlinestatic |
Create instance and return shared pointer
| init,end | Start and end configurations of the path |
| interval | interval of definition |
| constraints | the path is subject to. |
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inlinestatic |
Create instance and return shared pointer
| init,end | Start and end configurations of the path, |
| interval | interval of definition |
| constraints | the path is subject to. |
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inlinestatic |
Create copy and return shared pointer
| path | path to copy |
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inlinestatic |
Create copy and return shared pointer
| path | path to copy |
| constraints | the path is subject to |
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inlinevirtual |
Get the final configuration.
Implements hpp::core::Path.
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inline |
Modify end configuration
| end | new end configuration |
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protectedvirtual |
Function evaluation without applying constraints.
Implements hpp::core::Path.
Reimplemented in hpp::core::KinodynamicOrientedPath, and hpp::core::KinodynamicPath.
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protectedvirtual |
Virtual implementation of derivative.
Reimplemented from hpp::core::Path.
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protectedvirtual |
Extraction/Reversion of a sub-path
| subInterval | interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed. |
Reimplemented from hpp::core::Path.
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protectedvirtual |
Virtual implementation of velocityBound
| param0,param1 | interval of parameter |
| bound |
Reimplemented from hpp::core::Path.
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inlineprotected |
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inlinevirtual |
Get the initial configuration.
Implements hpp::core::Path.
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inline |
Modify initial configuration
| initial | new initial configuration |
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protectedvirtual |
Print path in a stream.
Reimplemented from hpp::core::Path.
Reimplemented in hpp::core::KinodynamicOrientedPath, and hpp::core::KinodynamicPath.
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protected |
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protected |
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protected |