17 #ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
18 #define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
20 #include <hpp/core/steering-method.hh>
26 namespace manipulation {
29 namespace steeringMethod {
33 using core::PathPtr_t;
37 :
public core::SteeringMethod
68 void trajectory (
const PathPtr_t& eeTraj,
bool se3Output);
105 eeTraj_ (other.eeTraj_),
106 timeRange_ (other.timeRange_),
107 constraint_ (other.constraint_)
Build StraightPath constrained by a varying right hand side constraint.
Definition: end-effector-trajectory.hh:38
static EndEffectorTrajectoryPtr_t create(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:43
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:99
PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
PathPtr_t projectedPath(vectorIn_t times, matrixIn_t configs) const
const DifferentiableFunctionPtr_t & trajectory() const
Definition: end-effector-trajectory.hh:75
core::interval_t interval_t
Definition: end-effector-trajectory.hh:40
void trajectoryConstraint(const constraints::ImplicitPtr_t &ic)
Set the constraint whose right hand side will vary.
const interval_t & timeRange() const
Definition: end-effector-trajectory.hh:80
EndEffectorTrajectory(const EndEffectorTrajectory &other)
Definition: end-effector-trajectory.hh:103
static PathPtr_t makePiecewiseLinearTrajectory(matrixIn_t points, vectorIn_t weights)
const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:60
void trajectory(const PathPtr_t &eeTraj, bool se3Output)
void trajectory(const DifferentiableFunctionPtr_t &eeTraj, const interval_t &timeRange)
core::SteeringMethodPtr_t copy() const
Definition: end-effector-trajectory.hh:85
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:31
HPP_PREDEF_CLASS(EndEffectorTrajectory)
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:116
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:115
core::matrixIn_t matrixIn_t
Definition: fwd.hh:124
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vectorIn_t vectorIn_t
Definition: fwd.hh:86