19 #ifndef HPP_CORE_KINODYNAMIC_DISTANCE_HH
20 # define HPP_CORE_KINODYNAMIC_DISTANCE_HH
57 void init (KinodynamicDistanceWkPtr_t
self);
69 KinodynamicDistanceWkPtr_t weak_;
Abstract class for distance between configurations.
Definition: distance.hh:35
Definition: kinodynamic-distance.hh:37
static KinodynamicDistancePtr_t createFromProblem(const ProblemConstPtr_t &problem)
static KinodynamicDistancePtr_t create(const DevicePtr_t &robot)
void init(KinodynamicDistanceWkPtr_t self)
const DevicePtr_t & robot() const
Get robot.
Definition: kinodynamic-distance.hh:49
static KinodynamicDistancePtr_t createCopy(const KinodynamicDistancePtr_t &distance)
double computeMinTime(double p1, double p2, double v1, double v2) const
KinodynamicDistance(const ProblemConstPtr_t &problem)
virtual value_type impl_distance(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Derived class should implement this function.
KinodynamicDistance(const DevicePtr_t &robot)
virtual DistancePtr_t clone() const
KinodynamicDistance(const KinodynamicDistance &distance)
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:209
Definition: bi-rrt-planner.hh:24