hpp-manipulation 4.14.0
Classes for manipulation planning.
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end-effector-trajectory.hh
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1// Copyright (c) 2019, LAAS-CNRS
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
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9// 1. Redistributions of source code must retain the above copyright
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28
29#ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
30#define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
31
32#include <hpp/core/steering-method.hh>
35
36namespace hpp {
37namespace manipulation {
40namespace steeringMethod {
42typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
43
44using core::PathPtr_t;
45
48 : public core::SteeringMethod {
49 public:
50 typedef core::interval_t interval_t;
51
53 const core::ProblemConstPtr_t& problem) {
55 ptr->init(ptr);
56 return ptr;
57 }
58
64 vectorIn_t weights);
65
67 void trajectoryConstraint(const constraints::ImplicitPtr_t& ic);
68
69 const constraints::ImplicitPtr_t& trajectoryConstraint() {
70 return constraint_;
71 }
72
76 void trajectory(const PathPtr_t& eeTraj, bool se3Output);
77
82 const interval_t& timeRange);
83
84 const DifferentiableFunctionPtr_t& trajectory() const { return eeTraj_; }
85
86 const interval_t& timeRange() const { return timeRange_; }
87
88 core::SteeringMethodPtr_t copy() const {
90 ptr->init(ptr);
91 return ptr;
92 }
93
98 PathPtr_t projectedPath(vectorIn_t times, matrixIn_t configs) const;
99
100 protected:
101 EndEffectorTrajectory(const core::ProblemConstPtr_t& problem)
102 : core::SteeringMethod(problem) {}
103
105 : core::SteeringMethod(other),
106 eeTraj_(other.eeTraj_),
107 timeRange_(other.timeRange_),
108 constraint_(other.constraint_) {}
109
111
112 private:
113 core::ConstraintSetPtr_t getUpdatedConstraints() const;
114
116 interval_t timeRange_;
117 constraints::ImplicitPtr_t constraint_;
118};
119} // namespace steeringMethod
121} // namespace manipulation
122} // namespace hpp
123
124#endif // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
Definition: graph.hh:43
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
Definition: main.hh:1