19 #ifndef HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
20 # define HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
22 # include <hpp/util/debug.hh>
23 # include <hpp/util/pointer.hh>
32 namespace steeringMethod {
63 std::vector <JointPtr_t> wheels);
69 void init (CarLikeWkPtr_t weak)
Definition: steering-method.hh:39
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:114
Definition: car-like.hh:40
void init(CarLikeWkPtr_t weak)
Store weak pointer to itself.
Definition: car-like.hh:69
void turningRadius(const value_type &rho)
size_type rzId_
Definition: car-like.hh:79
value_type turningRadius() const
Definition: car-like.hh:53
std::vector< JointPtr_t > wheels_
Definition: car-like.hh:80
CarLike(const ProblemConstPtr_t &problem)
Constructor.
void setWheelJoints(const std::vector< JointPtr_t > wheels)
Set the wheels.
Definition: car-like.hh:46
JointPtr_t rz_
Definition: car-like.hh:78
DeviceWkPtr_t device_
Definition: car-like.hh:75
virtual ~CarLike()
Definition: car-like.hh:43
CarLike(const CarLike &other)
Copy constructor.
value_type rho_
Turning radius.
Definition: car-like.hh:77
CarLike(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels)
Constructor.
#define HPP_CORE_DLLAPI
Definition: config.hh:64
std::vector< JointPtr_t > getWheelsFromParameter(const ProblemConstPtr_t &problem, const JointPtr_t &rz)
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:115
pinocchio::value_type value_type
Definition: fwd.hh:157
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: bi-rrt-planner.hh:24