hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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time-constraint-utils.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Steve Tonneau (steve.tonneau@laas.fr)
4//
5// This file is part of hpp-rbprm.
6// hpp-rbprm is free software: you can redistribute it
7// and/or modify it under the terms of the GNU Lesser General Public
8// License as published by the Free Software Foundation, either version
9// 3 of the License, or (at your option) any later version.
10//
11// hpp-rbprm is distributed in the hope that it will be
12// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14// General Lesser Public License for more details. You should have
15// received a copy of the GNU Lesser General Public License along with
16// hpp-core If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
20#define HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
21
22#include <hpp/core/config-projector.hh>
23#include <hpp/core/problem.hh>
24#include <hpp/rbprm/config.hh>
32#include <hpp/rbprm/tools.hh>
33#include <map>
34#include <string>
35#include <vector>
36
37namespace hpp {
38namespace rbprm {
39namespace interpolation {
40
41template <class Helper_T>
42void SetPathValidation(Helper_T& helper) {
45 helper.fullBodyDevice_, 0.05,
46 helper.fullBodyDevice_->configSize() - 1);
47 helper.rootProblem_->pathValidation(pathVal);
48}
49
50template <class Helper_T>
51core::ConfigurationPtr_t TimeConfigFromDevice(const Helper_T& helper,
52 const State& state,
53 const double time) {
54 core::Configuration_t config(helper.fullBodyDevice_->currentConfiguration());
55 config.head(state.configuration_.rows()) = state.configuration_;
56 config[config.rows() - 1] = time;
57 return core::ConfigurationPtr_t(new core::Configuration_t(config));
58}
59
60inline void UpdateConstraints(core::ConfigurationOut_t configuration,
61 const T_TimeDependant& tds,
62 const std::size_t pathDofRank) {
63 const core::value_type y = configuration[pathDofRank];
64 for (CIT_TimeDependant cit = tds.begin(); cit != tds.end(); ++cit) {
65 (*cit)(y, configuration);
66 }
67}
68} // namespace interpolation
69} // namespace rbprm
70} // namespace hpp
71#endif // HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
static TimeConstraintPathValidationPtr_t create(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
T_TimeDependant::const_iterator CIT_TimeDependant
Definition: time-dependant.hh:74
void SetPathValidation(Helper_T &helper)
Definition: time-constraint-utils.hh:42
void UpdateConstraints(core::ConfigurationOut_t configuration, const T_TimeDependant &tds, const std::size_t pathDofRank)
Definition: time-constraint-utils.hh:60
core::ConfigurationPtr_t TimeConfigFromDevice(const Helper_T &helper, const State &state, const double time)
Definition: time-constraint-utils.hh:51
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:73
shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:31
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
hpp::pinocchio::Configuration_t configuration_
Definition: rbprm-state.hh:120