19#ifndef HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
20#define HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
22#include <hpp/core/path-optimization/random-shortcut.hh>
54 virtual core::PathVectorPtr_t
optimize(
const core::PathVectorPtr_t& path);
59 core::PathPtr_t
steer(core::ConfigurationIn_t q1,
60 core::ConfigurationIn_t q2)
const;
65 double sizeFootX_, sizeFootY_;
66 bool rectangularContact_;
Definition: random-shortcut-dynamic.hh:48
RandomShortcutDynamic(core::ProblemConstPtr_t problem)
virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t &path)
Optimize path.
static RandomShortcutDynamicPtr_t create(core::ProblemConstPtr_t problem)
Return shared pointer to new object.
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
shared_ptr< RandomShortcutDynamic > RandomShortcutDynamicPtr_t
Definition: random-shortcut-dynamic.hh:46
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