hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::interpolation::PolynomTrajectory Class Reference

#include <hpp/rbprm/interpolation/polynom-trajectory.hh>

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

Public Types

typedef Path parent_t
 

Public Member Functions

virtual ~PolynomTrajectory ()
 Destructor. More...
 
virtual core::PathPtr_t copy () const
 
virtual core::PathPtr_t extract (const core::interval_t &subInterval) const
 
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 PolynomTrajectoryPtr_t create (PolynomPtr_t polynom, core::value_type subSetStart=0, core::value_type subSetEnd=1)
 
static PolynomTrajectoryPtr_t createCopy (const PolynomTrajectoryPtr_t &path)
 

Public Attributes

const PolynomPtr_t polynom_
 
const core::value_type subSetStart_
 
const core::value_type subSetEnd_
 
const core::value_type length_
 

Protected Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream. More...
 
 PolynomTrajectory (PolynomPtr_t polynom, core::value_type subSetStart, core::value_type subSetEnd)
 Constructor. More...
 
 PolynomTrajectory (const PolynomTrajectory &path)
 Copy constructor. More...
 
void init (PolynomTrajectoryPtr_t self)
 
virtual bool impl_compute (core::ConfigurationOut_t result, core::value_type param) const
 
virtual core::PathPtr_t copy (const core::ConstraintSetPtr_t &) 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

◆ ~PolynomTrajectory()

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

Destructor.

◆ PolynomTrajectory() [1/2]

hpp::rbprm::interpolation::PolynomTrajectory::PolynomTrajectory ( PolynomPtr_t  polynom,
core::value_type  subSetStart,
core::value_type  subSetEnd 
)
protected

Constructor.

◆ PolynomTrajectory() [2/2]

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

Copy constructor.

Member Function Documentation

◆ checkPath()

virtual void hpp::rbprm::interpolation::PolynomTrajectory::checkPath ( ) const
inlinevirtual

◆ copy() [1/2]

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

Return a shared pointer to this

As ComTrajectoryP 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::PolynomTrajectory::copy ( const core::ConstraintSetPtr_t &  ) const
inlineprotectedvirtual

◆ create()

static PolynomTrajectoryPtr_t hpp::rbprm::interpolation::PolynomTrajectory::create ( PolynomPtr_t  polynom,
core::value_type  subSetStart = 0,
core::value_type  subSetEnd = 1 
)
inlinestatic

Create instance and return shared pointer

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

◆ createCopy()

static PolynomTrajectoryPtr_t hpp::rbprm::interpolation::PolynomTrajectory::createCopy ( const PolynomTrajectoryPtr_t path)
inlinestatic

Create copy and return shared pointer

Parameters
pathpath to copy

◆ end()

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

Get the final configuration.

◆ extract()

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

◆ init()

void hpp::rbprm::interpolation::PolynomTrajectory::init ( PolynomTrajectoryPtr_t  self)
inlineprotected

◆ initial()

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

Get the initial configuration.

◆ print()

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

Print path in a stream.

Member Data Documentation

◆ length_

const core::value_type hpp::rbprm::interpolation::PolynomTrajectory::length_

◆ polynom_

const PolynomPtr_t hpp::rbprm::interpolation::PolynomTrajectory::polynom_

◆ subSetEnd_

const core::value_type hpp::rbprm::interpolation::PolynomTrajectory::subSetEnd_

◆ subSetStart_

const core::value_type hpp::rbprm::interpolation::PolynomTrajectory::subSetStart_

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