19 #ifndef HPP_CORE_DUBINS_PATH_HH
20 # define HPP_CORE_DUBINS_PATH_HH
22 # include <hpp/pinocchio/device.hh>
69 const std::vector<JointPtr_t> wheels);
86 const std::vector<JointPtr_t> wheels,
146 virtual std::ostream&
print (std::ostream &os)
const
148 os <<
"DubinsPath:" << std::endl;
150 os <<
"initial configuration: " << initial_.transpose () << std::endl;
151 os <<
"final configuration: " << end_.transpose () << std::endl;
158 const std::vector<JointPtr_t> wheels);
164 const std::vector<JointPtr_t> wheels,
180 void dubins_init_normalised (
double alpha,
double beta,
double d);
182 typedef Eigen::Matrix<value_type, 3, 1> Lengths_t;
189 std::vector<JointPtr_t> wheels_;
195 DubinsPathWkPtr_t weak_;
Definition: dubins-path.hh:47
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: dubins-path.hh:121
void init(DubinsPathPtr_t self)
DevicePtr_t device() const
Return the internal robot.
Definition: dubins-path.hh:127
virtual ~DubinsPath()
Destructor.
Definition: dubins-path.hh:52
Configuration_t initial() const
Get the initial configuration.
Definition: dubins-path.hh:133
DubinsPath(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type extraLength, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels)
Constructor.
DubinsPath(const DubinsPath &path)
Copy constructor.
Configuration_t end() const
Get the final configuration.
Definition: dubins-path.hh:139
core::PathVector parent_t
Definition: dubins-path.hh:49
virtual PathPtr_t copy() const
Return a shared pointer to a copy of this object.
Definition: dubins-path.hh:112
static DubinsPathPtr_t create(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)
static DubinsPathPtr_t createCopy(const DubinsPathPtr_t &path)
Definition: dubins-path.hh:91
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: dubins-path.hh:146
DubinsPath(const DevicePtr_t &robot, 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)
Constructor with constraints.
static DubinsPathPtr_t createCopy(const DubinsPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: dubins-path.hh:103
DubinsPath(const DubinsPath &path, const ConstraintSetPtr_t &constraints)
Copy constructor with constraints.
DubinsPath()
For serialization only.
Definition: dubins-path.hh:177
static DubinsPathPtr_t create(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)
Concatenation of several paths.
Definition: path-vector.hh:33
virtual std::ostream & print(std::ostream &os) const
const ConstraintSetPtr_t & constraints() const
Get constraints the path is subject to.
Definition: path.hh:226
pinocchio::value_type value_type
Definition: fwd.hh:157
pinocchio::vector3_t vector3_t
Definition: fwd.hh:148
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:187
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
pinocchio::size_type size_type
Definition: fwd.hh:156
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: bi-rrt-planner.hh:24