19 #ifndef HPP_CORE_STRAIGHT_PATH_HH
20 # define HPP_CORE_STRAIGHT_PATH_HH
22 # include <hpp/pinocchio/liegroup-element.hh>
61 ptr =
new StraightPath (space, init, end, interval, constraints);
79 assert (init.space() == end.space());
80 return create (init.space(), init.vector(), end.vector(), interval, constraints);
93 return create (device, init, end,
interval_t (0, length), constraints);
137 return createCopy (weak_.lock ());
146 return createCopy (weak_.lock (), constraints);
155 assert (initial.size () == initial_.size ());
165 assert (end.size () == end_.size ());
183 virtual std::ostream&
print (std::ostream &os)
const;
202 parent_t::init (
self);
226 StraightPathWkPtr_t weak_;
virtual void checkPath() const
Should be called by child classes after having init.
Definition: straight-path.hh:43
Configuration_t initial_
Definition: straight-path.hh:223
virtual bool impl_compute(ConfigurationOut_t result, value_type param) const
Function evaluation without applying constraints.
virtual ~StraightPath()
Destructor.
Definition: straight-path.hh:47
StraightPath(const StraightPath &path)
Copy constructor.
Configuration_t initial() const
Get the initial configuration.
Definition: straight-path.hh:170
void endConfig(ConfigurationIn_t end)
Definition: straight-path.hh:163
virtual void impl_derivative(vectorOut_t result, const value_type &t, size_type order) const
Virtual implementation of derivative.
void init(StraightPathPtr_t self)
Definition: straight-path.hh:200
Configuration_t end() const
Get the final configuration.
Definition: straight-path.hh:176
StraightPath(const StraightPath &path, const ConstraintSetPtr_t &constraints)
Copy constructor with constraints.
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:87
virtual void impl_velocityBound(vectorOut_t result, const value_type &, const value_type &) const
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: straight-path.hh:144
LiegroupSpacePtr_t space_
Definition: straight-path.hh:222
StraightPath(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
Constructor.
StraightPath(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval)
Constructor.
static StraightPathPtr_t createCopy(const StraightPathPtr_t &path)
Definition: straight-path.hh:109
virtual PathPtr_t copy() const
Definition: straight-path.hh:135
Configuration_t end_
Definition: straight-path.hh:224
static StraightPathPtr_t create(LiegroupElementConstRef init, LiegroupElementConstRef end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:74
Path parent_t
Definition: straight-path.hh:45
static StraightPathPtr_t create(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:53
StraightPath()
Definition: straight-path.hh:229
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
PathPtr_t impl_extract(const interval_t &subInterval) const
void initialConfig(ConfigurationIn_t initial)
Definition: straight-path.hh:153
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
static StraightPathPtr_t createCopy(const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: straight-path.hh:122
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:183
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:153
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:155
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