19#ifndef HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH
20#define HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH
22#include <hpp/core/path-optimizer.hh>
52 virtual core::PathVectorPtr_t
optimize(
const core::PathVectorPtr_t& path);
57 const size_t index,
const size_t lastIndex,
58 std::vector<bool> replaceValid, std::vector<bool> orientedValid,
59 std::vector<core::KinodynamicOrientedPathPtr_t> orientedPaths,
60 std::vector<core::KinodynamicPathPtr_t> resultPaths);
62 core::PathPtr_t
steer(core::ConfigurationIn_t q1,
63 core::ConfigurationIn_t q2)
const;
68 double sizeFootX_, sizeFootY_;
69 bool rectangularContact_;
72 bool orientationIgnoreZValue_;
Definition: oriented-path-optimizer.hh:46
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
OrientedPathOptimizer(core::ProblemConstPtr_t problem)
bool checkReplaceOrientation(const size_t index, const size_t lastIndex, std::vector< bool > replaceValid, std::vector< bool > orientedValid, std::vector< core::KinodynamicOrientedPathPtr_t > orientedPaths, std::vector< core::KinodynamicPathPtr_t > resultPaths)
static OrientedPathOptimizerPtr_t create(core::ProblemConstPtr_t problem)
Return shared pointer to new object.
virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t &path)
Optimize path.
shared_ptr< OrientedPathOptimizer > OrientedPathOptimizerPtr_t
Definition: oriented-path-optimizer.hh:44
HPP_PREDEF_CLASS(RbPrmFullBody)
shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
Definition: algorithm.hh:26