20 #ifndef HPP_WHOLEBODY_STEP_SMALL_STEPS_HH
21 # define HPP_WHOLEBODY_STEP_SMALL_STEPS_HH
23 # include <hpp/core/path-optimizer.hh>
24 # include <hpp/walkgen/foot-print.hh>
29 namespace wholebodyStep {
75 active (false), optional (false), type (All), abscissa (-1) {}
84 void init (
const SmallStepsWkPtr_t& weak);
89 Times_t buildInitialTimes (
const std::size_t& p);
114 std::vector <value_type> stepParameters_;
116 std::vector <bool> footPrintsIsRight_;
117 SmallStepsWkPtr_t weakPtr_;
Definition: small-steps.hh:35
walkgen::Times_t Times_t
Definition: small-steps.hh:38
HandConstraint leftHand_
Definition: small-steps.hh:78
HandConstraintType
Definition: small-steps.hh:63
@ UntilEnd
Definition: small-steps.hh:65
@ FromStart
Definition: small-steps.hh:64
std::map< value_type, value_type > TimeToParameterMap_t
Definition: small-steps.hh:39
SmallSteps(const ProblemConstPtr_t &problem)
Constructor with roadmap.
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)
Call implementation of delegate path planner.
walkgen::FootPrints_t FootPrints_t
Definition: small-steps.hh:37
void init(const SmallStepsWkPtr_t &weak)
Store weak pointer to itself.
static SmallStepsPtr_t create(const ProblemConstPtr_t &problem)
#define HPP_WHOLEBODY_STEP_DLLAPI
Definition: config.hh:64
core::PathVectorPtr_t PathVectorPtr_t
Definition: fwd.hh:54
pinocchio::HumanoidRobotPtr_t HumanoidRobotPtr_t
Definition: fwd.hh:62
walkgen::CubicBSplinePtr_t CubicBSplinePtr_t
Definition: fwd.hh:82
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:33
walkgen::FootPrint FootPrint
Definition: fwd.hh:79
core::ProblemConstPtr_t ProblemConstPtr_t
Definition: fwd.hh:48
walkgen::SplineBasedPtr_t SplineBasedPtr_t
Definition: fwd.hh:80
core::PathPtr_t PathPtr_t
Definition: fwd.hh:52
std::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:85
core::value_type value_type
Definition: fwd.hh:76
Definition: small-steps.hh:68
HandConstraint()
Definition: small-steps.hh:74
value_type abscissa
Definition: small-steps.hh:72
HandConstraintType type
Definition: small-steps.hh:71
bool optional
Definition: small-steps.hh:70
bool active
Definition: small-steps.hh:69
Compute parameter along initial path with respect to time.
Definition: small-steps.hh:43
SmallSteps::TimeToParameterMap_t Pairs_t
Definition: small-steps.hh:44
Pairs_t pairs_
Definition: small-steps.hh:50
void addPair(const value_type &t, const value_type value)
Add a pair (time, parameter)