18 #ifndef HPP_CORE_INTERPOLATED_PATH_HH
19 # define HPP_CORE_INTERPOLATED_PATH_HH
45 typedef std::map <value_type, Configuration_t, std::less <value_type>,
80 timeRange, constraints);
95 return create (device, init, end,
interval_t(0, length));
109 return create (device, init, end,
interval_t(0, length), constraints);
128 const DevicePtr_t& device,
const std::size_t& nbSamples);
148 return createCopy (weak_.lock ());
157 return createCopy (weak_.lock (), constraints);
174 return configs_.begin ()->second;
180 return configs_.rbegin ()->second;
190 virtual std::ostream&
print (std::ostream &os)
const
192 os <<
"InterpolatedPath:" << std::endl;
194 os <<
"initial configuration: " << initial().transpose () << std::endl;
195 os <<
"final configuration: " << end().transpose () << std::endl;
210 const std::size_t& nbSamples);
237 InterpolatedPathWkPtr_t weak_;
Definition: interpolated-path.hh:42
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
Definition: interpolated-path.hh:90
Configuration_t initial() const
Get the initial configuration.
Definition: interpolated-path.hh:172
void initCopy(InterpolatedPathPtr_t self)
static InterpolatedPathPtr_t createCopy(const InterpolatedPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: interpolated-path.hh:134
InterpolatedPath(const InterpolatedPath &path, const ConstraintSetPtr_t &constraints)
Copy constructor with constraints.
const InterpolationPoints_t & interpolationPoints() const
Definition: interpolated-path.hh:183
InterpolatedPath(const PathPtr_t &path, const DevicePtr_t &device, const std::size_t &nbSamples)
DIscretization of a given path.
void insert(const value_type &time, ConfigurationIn_t config)
Insert interpolation point.
Definition: interpolated-path.hh:166
PathPtr_t impl_extract(const interval_t &subInterval) const
static InterpolatedPathPtr_t create(const PathPtr_t &path, const DevicePtr_t &device, const std::size_t &nbSamples)
virtual ~InterpolatedPath()
Destructor.
Definition: interpolated-path.hh:50
virtual void impl_velocityBound(vectorOut_t result, const value_type &t0, const value_type &t1) const
std::map< value_type, Configuration_t, std::less< value_type >, Eigen::aligned_allocator< InterpolationPoint_t > > InterpolationPoints_t
Definition: interpolated-path.hh:46
static InterpolatedPathPtr_t createCopy(const InterpolatedPathPtr_t &path)
Definition: interpolated-path.hh:114
InterpolatedPath(const InterpolatedPath &path)
Copy constructor.
virtual void impl_derivative(vectorOut_t result, const value_type &t, size_type order) const
Virtual implementation of derivative.
Path parent_t
Definition: interpolated-path.hh:47
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t timeRange, ConstraintSetPtr_t constraints)
Definition: interpolated-path.hh:73
virtual PathPtr_t copy() const
Definition: interpolated-path.hh:146
void init(InterpolatedPathPtr_t self)
DevicePtr_t device() const
Return the internal robot.
std::pair< const value_type, Configuration_t > InterpolationPoint_t
Definition: interpolated-path.hh:44
virtual PathPtr_t reverse() const
InterpolatedPath(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, interval_t timeRange, ConstraintSetPtr_t constraints)
Constructor with constraints.
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t timeRange)
Definition: interpolated-path.hh:56
virtual bool impl_compute(ConfigurationOut_t result, value_type param) const
Function evaluation without applying constraints.
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
Definition: interpolated-path.hh:103
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: interpolated-path.hh:190
Configuration_t end() const
Get the final configuration.
Definition: interpolated-path.hh:178
InterpolatedPath(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, interval_t timeRange)
Constructor.
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: interpolated-path.hh:155
virtual std::ostream & print(std::ostream &os) const
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:193
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
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