hpp-core 5.0.0
Implement basic classes for canonical path planning for kinematic chains.
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hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder > Class Template Reference

#include <hpp/core/steering-method/spline.hh>

Inheritance diagram for hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >:
Collaboration diagram for hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >:

Public Types

enum  { PolynomeBasis = _PolynomeBasis , SplineOrder = _SplineOrder }
 
typedef path::Spline< PolynomeBasis, SplineOrderSplinePath
 
typedef SplinePath::Ptr_t SplinePathPtr_t
 
typedef shared_ptr< SplinePtr_t
 
typedef weak_ptr< SplineWkPtr_t
 

Public Member Functions

virtual SteeringMethodPtr_t copy () const
 Copy instance and return shared pointer. More...
 
virtual PathPtr_t impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 create a path between two configurations More...
 
PathPtr_t steer (ConfigurationIn_t q1, std::vector< int > order1, matrixIn_t derivatives1, ConfigurationIn_t q2, std::vector< int > order2, matrixIn_t derivatives2, value_type length=-1) const
 
- Public Member Functions inherited from hpp::core::SteeringMethod
PathPtr_t operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 
PathPtr_t steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 
virtual ~SteeringMethod ()
 
virtual SteeringMethodPtr_t copy () const =0
 Copy instance and return shared pointer. More...
 
ProblemConstPtr_t problem () const
 
void constraints (const ConstraintSetPtr_t &constraints)
 Set constraint set. More...
 
const ConstraintSetPtr_tconstraints () const
 Get constraint set. More...
 

Static Public Member Functions

static Ptr_t create (const ProblemConstPtr_t &problem)
 
static Ptr_t createCopy (const Ptr_t &other)
 Copy instance and return shared pointer. More...
 

Protected Member Functions

 Spline (const ProblemConstPtr_t &problem)
 Constructor. More...
 
 Spline (const Spline &other)
 Copy constructor. More...
 
void init (WkPtr_t weak)
 Store weak pointer to itself. More...
 
- Protected Member Functions inherited from hpp::core::SteeringMethod
 SteeringMethod (const ProblemConstPtr_t &problem)
 Constructor. More...
 
 SteeringMethod (const SteeringMethod &other)
 
virtual PathPtr_t impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0
 create a path between two configurations More...
 
void init (SteeringMethodWkPtr_t weak)
 Store weak pointer to itself. More...
 

Detailed Description

template<int _PolynomeBasis, int _SplineOrder>
class hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >

Steering method that creates path::Spline instances

Member Typedef Documentation

◆ Ptr_t

template<int _PolynomeBasis, int _SplineOrder>
typedef shared_ptr<Spline> hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::Ptr_t

◆ SplinePath

template<int _PolynomeBasis, int _SplineOrder>
typedef path::Spline<PolynomeBasis, SplineOrder> hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::SplinePath

◆ SplinePathPtr_t

template<int _PolynomeBasis, int _SplineOrder>
typedef SplinePath::Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::SplinePathPtr_t

◆ WkPtr_t

template<int _PolynomeBasis, int _SplineOrder>
typedef weak_ptr<Spline> hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::WkPtr_t

Member Enumeration Documentation

◆ anonymous enum

template<int _PolynomeBasis, int _SplineOrder>
anonymous enum
Enumerator
PolynomeBasis 
SplineOrder 

Constructor & Destructor Documentation

◆ Spline() [1/2]

template<int _PolynomeBasis, int _SplineOrder>
hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::Spline ( const ProblemConstPtr_t problem)
protected

Constructor.

◆ Spline() [2/2]

template<int _PolynomeBasis, int _SplineOrder>
hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::Spline ( const Spline< _PolynomeBasis, _SplineOrder > &  other)
protected

Copy constructor.

Member Function Documentation

◆ copy()

template<int _PolynomeBasis, int _SplineOrder>
virtual SteeringMethodPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::copy ( ) const
inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

◆ create()

template<int _PolynomeBasis, int _SplineOrder>
static Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::create ( const ProblemConstPtr_t problem)
inlinestatic

◆ createCopy()

template<int _PolynomeBasis, int _SplineOrder>
static Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::createCopy ( const Ptr_t other)
inlinestatic

Copy instance and return shared pointer.

◆ impl_compute()

template<int _PolynomeBasis, int _SplineOrder>
virtual PathPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::impl_compute ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2 
) const
virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

◆ init()

template<int _PolynomeBasis, int _SplineOrder>
void hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::init ( WkPtr_t  weak)
inlineprotected

Store weak pointer to itself.

◆ steer()

template<int _PolynomeBasis, int _SplineOrder>
PathPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::steer ( ConfigurationIn_t  q1,
std::vector< int >  order1,
matrixIn_t  derivatives1,
ConfigurationIn_t  q2,
std::vector< int >  order2,
matrixIn_t  derivatives2,
value_type  length = -1 
) const

create a path between two configurations with desired derivatives at the limits

Parameters
q1,q2robot configuration at each end
order1,order2list of derivative orders
derivatives1,derivatives2desired derivatives at each end
lengthif positive, this is the length of the returned path. Otherwise, the length is computed using \r Problem::distance

The documentation for this class was generated from the following files: