19#ifndef HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
20#define HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
22#include <hpp/core/config-projector.hh>
23#include <hpp/core/problem.hh>
39namespace interpolation {
41template <
class Helper_T>
45 helper.fullBodyDevice_, 0.05,
46 helper.fullBodyDevice_->configSize() - 1);
47 helper.rootProblem_->pathValidation(pathVal);
50template <
class Helper_T>
54 core::Configuration_t config(helper.fullBodyDevice_->currentConfiguration());
56 config[config.rows() - 1] = time;
57 return core::ConfigurationPtr_t(
new core::Configuration_t(config));
62 const std::size_t pathDofRank) {
63 const core::value_type y = configuration[pathDofRank];
65 (*cit)(y, configuration);
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