hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::interpolation::TimeConstraintPath Class Reference

#include <hpp/rbprm/interpolation/time-constraint-path.hh>

Inheritance diagram for hpp::rbprm::interpolation::TimeConstraintPath:
Collaboration diagram for hpp::rbprm::interpolation::TimeConstraintPath:

Public Types

typedef Path parent_t
 

Public Member Functions

virtual ~TimeConstraintPath ()
 Destructor. More...
 
virtual core::PathPtr_t copy () const
 
virtual core::PathPtr_t copy (const core::ConstraintSetPtr_t &constraints) const
 
virtual core::PathPtr_t extract (const core::interval_t &subInterval) const
 
void initialConfig (core::ConfigurationIn_t initial)
 
void endConfig (core::ConfigurationIn_t end)
 
core::DevicePtr_t device () const
 Return the internal robot. More...
 
core::Configuration_t initial () const
 Get the initial configuration. More...
 
core::Configuration_t end () const
 Get the final configuration. More...
 
virtual void checkPath () const
 

Static Public Member Functions

static TimeConstraintPathPtr_t create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, const std::size_t pathDofRank, const T_TimeDependant &tds)
 
static TimeConstraintPathPtr_t create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::ConstraintSetPtr_t constraints, const std::size_t pathDofRank, const T_TimeDependant &tds)
 
static TimeConstraintPathPtr_t createCopy (const TimeConstraintPathPtr_t &path)
 
static TimeConstraintPathPtr_t createCopy (const TimeConstraintPathPtr_t &path, const core::ConstraintSetPtr_t &constraints)
 

Public Attributes

const std::size_t pathDofRank_
 
const T_TimeDependant tds_
 

Protected Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream. More...
 
 TimeConstraintPath (const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, const std::size_t pathDofRank, const T_TimeDependant &tds)
 Constructor. More...
 
 TimeConstraintPath (const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::ConstraintSetPtr_t constraints, const std::size_t pathDofRank, const T_TimeDependant &tds)
 Constructor with constraints. More...
 
 TimeConstraintPath (const TimeConstraintPath &path)
 Copy constructor. More...
 
 TimeConstraintPath (const TimeConstraintPath &path, const core::ConstraintSetPtr_t &constraints)
 Copy constructor with constraints. More...
 
void init (TimeConstraintPathPtr_t self)
 
void initCopy (TimeConstraintPathPtr_t self)
 
virtual bool impl_compute (core::ConfigurationOut_t result, core::value_type param) const
 

Detailed Description

Linear interpolation between two configurations

Degrees of freedom are interpolated depending on the type of joint they parameterize:

  • linear interpolation for translation joints, bounded rotation joints, and translation part of freeflyer joints,
  • angular interpolation for unbounded rotation joints,
  • constant angular velocity for SO(3) part of freeflyer joints.

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~TimeConstraintPath()

virtual hpp::rbprm::interpolation::TimeConstraintPath::~TimeConstraintPath ( )
inlinevirtual

Destructor.

◆ TimeConstraintPath() [1/4]

hpp::rbprm::interpolation::TimeConstraintPath::TimeConstraintPath ( const core::DevicePtr_t &  robot,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::value_type  length,
const std::size_t  pathDofRank,
const T_TimeDependant tds 
)
protected

Constructor.

◆ TimeConstraintPath() [2/4]

hpp::rbprm::interpolation::TimeConstraintPath::TimeConstraintPath ( const core::DevicePtr_t &  robot,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::value_type  length,
core::ConstraintSetPtr_t  constraints,
const std::size_t  pathDofRank,
const T_TimeDependant tds 
)
protected

Constructor with constraints.

◆ TimeConstraintPath() [3/4]

hpp::rbprm::interpolation::TimeConstraintPath::TimeConstraintPath ( const TimeConstraintPath path)
protected

Copy constructor.

◆ TimeConstraintPath() [4/4]

hpp::rbprm::interpolation::TimeConstraintPath::TimeConstraintPath ( const TimeConstraintPath path,
const core::ConstraintSetPtr_t &  constraints 
)
protected

Copy constructor with constraints.

Member Function Documentation

◆ checkPath()

virtual void hpp::rbprm::interpolation::TimeConstraintPath::checkPath ( ) const
virtual

◆ copy() [1/2]

virtual core::PathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::copy ( ) const
inlinevirtual

Return a shared pointer to this

As TimeConstraintPathP are immutable, and refered to by shared pointers, they do not need to be copied.

◆ copy() [2/2]

virtual core::PathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::copy ( const core::ConstraintSetPtr_t &  constraints) const
inlinevirtual

Return a shared pointer to a copy of this and set constraints

Parameters
constraintsconstraints to apply to the copy \precond *this should not have constraints.

◆ create() [1/2]

static TimeConstraintPathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::create ( const core::DevicePtr_t &  device,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::value_type  length,
const std::size_t  pathDofRank,
const T_TimeDependant tds 
)
inlinestatic

Create instance and return shared pointer

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
lengthDistance between the configurations.

◆ create() [2/2]

static TimeConstraintPathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::create ( const core::DevicePtr_t &  device,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::value_type  length,
core::ConstraintSetPtr_t  constraints,
const std::size_t  pathDofRank,
const T_TimeDependant tds 
)
inlinestatic

Create instance and return shared pointer

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
lengthDistance between the configurations.
constraintsthe path is subject to

◆ createCopy() [1/2]

static TimeConstraintPathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::createCopy ( const TimeConstraintPathPtr_t path)
inlinestatic

Create copy and return shared pointer

Parameters
pathpath to copy

◆ createCopy() [2/2]

static TimeConstraintPathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::createCopy ( const TimeConstraintPathPtr_t path,
const core::ConstraintSetPtr_t &  constraints 
)
inlinestatic

Create copy and return shared pointer

Parameters
pathpath to copy
constraintsthe path is subject to

◆ device()

core::DevicePtr_t hpp::rbprm::interpolation::TimeConstraintPath::device ( ) const

Return the internal robot.

◆ end()

core::Configuration_t hpp::rbprm::interpolation::TimeConstraintPath::end ( ) const
inline

Get the final configuration.

◆ endConfig()

void hpp::rbprm::interpolation::TimeConstraintPath::endConfig ( core::ConfigurationIn_t  end)
inline

Modify end configuration

Parameters
endnew end configuration
Precondition
input configuration should be of the same size as current end configuration

◆ extract()

virtual core::PathPtr_t hpp::rbprm::interpolation::TimeConstraintPath::extract ( const core::interval_t &  subInterval) const
virtual

Extraction/Reversion of a sub-path

Parameters
subIntervalinterval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed.

◆ impl_compute()

virtual bool hpp::rbprm::interpolation::TimeConstraintPath::impl_compute ( core::ConfigurationOut_t  result,
core::value_type  param 
) const
protectedvirtual

◆ init()

void hpp::rbprm::interpolation::TimeConstraintPath::init ( TimeConstraintPathPtr_t  self)
inlineprotected

◆ initCopy()

void hpp::rbprm::interpolation::TimeConstraintPath::initCopy ( TimeConstraintPathPtr_t  self)
inlineprotected

◆ initial()

core::Configuration_t hpp::rbprm::interpolation::TimeConstraintPath::initial ( ) const
inline

Get the initial configuration.

◆ initialConfig()

void hpp::rbprm::interpolation::TimeConstraintPath::initialConfig ( core::ConfigurationIn_t  initial)
inline

Modify initial configuration

Parameters
initialnew initial configuration
Precondition
input configuration should be of the same size as current initial configuration

◆ print()

virtual std::ostream & hpp::rbprm::interpolation::TimeConstraintPath::print ( std::ostream &  os) const
inlineprotectedvirtual

Print path in a stream.

Member Data Documentation

◆ pathDofRank_

const std::size_t hpp::rbprm::interpolation::TimeConstraintPath::pathDofRank_

◆ tds_

const T_TimeDependant hpp::rbprm::interpolation::TimeConstraintPath::tds_

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