18 #ifndef HPP_CORE_PATHPROJECTOR_GLOBAL_HH
19 # define HPP_CORE_PATHPROJECTOR_GLOBAL_HH
22 # include <hpp/constraints/solver/hierarchical-iterative.hh>
29 namespace pathProjector {
60 typedef constraints::solver::lineSearch::FixedSequence LineSearch_t;
71 Eigen::aligned_allocator <Configuration_t> > Configs_t;
72 typedef std::list <value_type> Lengths_t;
73 typedef std::list <LineSearch_t> Alphas_t;
74 typedef std::vector <bool> Bools_t;
75 typedef std::list<Data> Datas_t;
78 Configs_t& q, Configs_t::iterator& last,
79 Bools_t& b, Lengths_t& l, Alphas_t& alpha)
const;
82 Datas_t& ds,
const Datas_t::iterator& last)
const;
86 Configs_t& q,
const Configs_t::iterator& last,
87 Bools_t& b, Lengths_t& l, Alphas_t& alpha,
96 const Configs_t& q,
const Configs_t::iterator& last,
97 const Bools_t& b,
const Lengths_t& l,
102 const Datas_t& ds,
const Datas_t::iterator& last,
109 void initialConfigList (
const PathPtr_t& path,
110 Configs_t& cfgs)
const;
112 void initialConfigList (
const PathPtr_t& path,
117 bool projected =
false,
Definition: config-projector.hh:58
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
static GlobalPtr_t create(const ProblemConstPtr_t &problem, const value_type &step)
static GlobalPtr_t create(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step)
hpp::core::StraightPath StraightPath
Definition: global.hh:33
Global(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step, value_type threshold, value_type hessianBound)
hpp::core::StraightPathPtr_t StraightPathPtr_t
Definition: global.hh:34
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< Global > GlobalPtr_t
Definition: fwd.hh:310
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
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
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