29#ifndef HPP_CORE_STEERING_METHOD_HERMITE_HH
30#define HPP_CORE_STEERING_METHOD_HERMITE_HH
41namespace steeringMethod {
72 path::Hermite::create(problem()->robot(), q1, q2, constraints());
74 path->computeHermiteLength();
87 void init(HermiteWkPtr_t weak) {
88 SteeringMethod::init(weak);
Definition: steering-method.hh:48
Definition: hermite.hh:47
static HermitePtr_t createCopy(const HermitePtr_t &other)
Copy instance and return shared pointer.
Definition: hermite.hh:58
static HermitePtr_t create(const ProblemConstPtr_t &problem)
Create instance and return shared pointer.
Definition: hermite.hh:50
void init(HermiteWkPtr_t weak)
Store weak pointer to itself.
Definition: hermite.hh:87
Hermite(const Hermite &other)
Copy constructor.
Definition: hermite.hh:84
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: hermite.hh:66
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
create a path between two configurations
Definition: hermite.hh:69
Hermite(const ProblemConstPtr_t &problem)
Constructor with weighed distance.
Definition: hermite.hh:80
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:245
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:53
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:212
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186
Definition: bi-rrt-planner.hh:35