29#ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
30#define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
32#include <hpp/core/steering-method.hh>
37namespace manipulation {
40namespace steeringMethod {
48 :
public core::SteeringMethod {
53 const core::ProblemConstPtr_t& problem) {
76 void trajectory(
const PathPtr_t& eeTraj,
bool se3Output);
88 core::SteeringMethodPtr_t
copy()
const {
106 eeTraj_(other.eeTraj_),
107 timeRange_(other.timeRange_),
108 constraint_(other.constraint_) {}
113 core::ConstraintSetPtr_t getUpdatedConstraints()
const;
117 constraints::ImplicitPtr_t constraint_;
Build StraightPath constrained by a varying right hand side constraint.
Definition: end-effector-trajectory.hh:48
static EndEffectorTrajectoryPtr_t create(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:52
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:101
const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:69
const DifferentiableFunctionPtr_t & trajectory() const
Definition: end-effector-trajectory.hh:84
PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
PathPtr_t projectedPath(vectorIn_t times, matrixIn_t configs) const
core::interval_t interval_t
Definition: end-effector-trajectory.hh:50
void trajectoryConstraint(const constraints::ImplicitPtr_t &ic)
Set the constraint whose right hand side will vary.
EndEffectorTrajectory(const EndEffectorTrajectory &other)
Definition: end-effector-trajectory.hh:104
static PathPtr_t makePiecewiseLinearTrajectory(matrixIn_t points, vectorIn_t weights)
const interval_t & timeRange() const
Definition: end-effector-trajectory.hh:86
void trajectory(const PathPtr_t &eeTraj, bool se3Output)
void trajectory(const DifferentiableFunctionPtr_t &eeTraj, const interval_t &timeRange)
core::SteeringMethodPtr_t copy() const
Definition: end-effector-trajectory.hh:88
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:42
HPP_PREDEF_CLASS(EndEffectorTrajectory)
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:124
core::matrixIn_t matrixIn_t
Definition: fwd.hh:132
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
core::vectorIn_t vectorIn_t
Definition: fwd.hh:94