17 #ifndef HPP_CORE_PATHPROJECTOR_DICHOTOMY_HH
18 # define HPP_CORE_PATHPROJECTOR_DICHOTOMY_HH
26 namespace pathProjector {
45 return create (problem->distance(), problem->steeringMethod(),
This class projects a path using constraints.
Definition: path-projector.hh:27
hpp::core::PathPtr_t PathPtr_t
Definition: path-projector.hh:30
Definition: straight-path.hh:43
Definition: dichotomy.hh:28
hpp::core::StraightPath StraightPath
Definition: dichotomy.hh:30
static DichotomyPtr_t create(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type maxPathLength)
Definition: dichotomy.hh:33
Dichotomy(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type maxPathLength)
bool applyToStraightPath(const StraightPathPtr_t &path, PathPtr_t &projection) const
static DichotomyPtr_t create(const ProblemConstPtr_t &problem, value_type maxPathLength)
Definition: dichotomy.hh:42
hpp::core::StraightPathPtr_t StraightPathPtr_t
Definition: dichotomy.hh:31
bool impl_apply(const PathPtr_t &path, PathPtr_t &projection) const
Method to be reimplemented by inherited class.
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:312
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:183
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: bi-rrt-planner.hh:24