hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/interpolation/time-constraint-path.hh>
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 |
Linear interpolation between two configurations
Degrees of freedom are interpolated depending on the type of joint they parameterize:
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inlinevirtual |
Destructor.
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protected |
Constructor.
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protected |
Constructor with constraints.
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protected |
Copy constructor.
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protected |
Copy constructor with constraints.
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virtual |
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inlinevirtual |
Return a shared pointer to this
As TimeConstraintPathP are immutable, and refered to by shared pointers, they do not need to be copied.
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inlinevirtual |
Return a shared pointer to a copy of this and set constraints
constraints | constraints to apply to the copy \precond *this should not have constraints. |
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inlinestatic |
Create instance and return shared pointer
device | Robot corresponding to configurations |
init,end | Start and end configurations of the path |
length | Distance between the configurations. |
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inlinestatic |
Create instance and return shared pointer
device | Robot corresponding to configurations |
init,end | Start and end configurations of the path |
length | Distance between the configurations. |
constraints | the path is subject to |
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inlinestatic |
Create copy and return shared pointer
path | path to copy |
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inlinestatic |
Create copy and return shared pointer
path | path to copy |
constraints | the path is subject to |
core::DevicePtr_t hpp::rbprm::interpolation::TimeConstraintPath::device | ( | ) | const |
Return the internal robot.
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inline |
Get the final configuration.
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inline |
Modify end configuration
end | new end configuration |
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virtual |
Extraction/Reversion of a sub-path
subInterval | interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed. |
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protectedvirtual |
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inlineprotected |
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inlineprotected |
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inline |
Get the initial configuration.
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inline |
Modify initial configuration
initial | new initial configuration |
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inlineprotectedvirtual |
Print path in a stream.
const std::size_t hpp::rbprm::interpolation::TimeConstraintPath::pathDofRank_ |
const T_TimeDependant hpp::rbprm::interpolation::TimeConstraintPath::tds_ |