hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::interpolation::TimeDependant Struct Reference

#include <hpp/rbprm/interpolation/time-dependant.hh>

Public Member Functions

void operator() (const constraints::value_type s, pinocchio::ConfigurationOut_t conf) const
 
 TimeDependant (const constraints::ImplicitPtr_t &eq, const RightHandSideFunctorPtr_t rhs)
 
 TimeDependant (const TimeDependant &other)
 

Public Attributes

constraints::ImplicitPtr_t eq_
 
RightHandSideFunctorPtr_t rhsFunc_
 

Detailed Description

Set time varying right hand side of a constraint (constraints::Implicit)

This class stores

  • an instance of implicit constraint and
  • an instance of time varying right hand side (RightHandSideFunctor)

Call to operator () set the right hand side of the constraint to the value at a given time.

Note
Parameterization may be normalized between 0 and 1 (see interpolation::funEvaluator for an example).

Constructor & Destructor Documentation

◆ TimeDependant() [1/2]

hpp::rbprm::interpolation::TimeDependant::TimeDependant ( const constraints::ImplicitPtr_t &  eq,
const RightHandSideFunctorPtr_t  rhs 
)
inline

Constructor

Parameters
eqimplicit constraint,
rhstime-varying right hand side.

◆ TimeDependant() [2/2]

hpp::rbprm::interpolation::TimeDependant::TimeDependant ( const TimeDependant other)
inline

Member Function Documentation

◆ operator()()

void hpp::rbprm::interpolation::TimeDependant::operator() ( const constraints::value_type  s,
pinocchio::ConfigurationOut_t  conf 
) const
inline

Set time varying right hand side

Parameters
stime value in interval [0,1],

Member Data Documentation

◆ eq_

constraints::ImplicitPtr_t hpp::rbprm::interpolation::TimeDependant::eq_

◆ rhsFunc_

RightHandSideFunctorPtr_t hpp::rbprm::interpolation::TimeDependant::rhsFunc_

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