hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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com-rrt-shooter.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Steve Tonneau (steve.tonneau@laas.fr)
4//
5// This file is part of hpp-rbprm.
6// hpp-rbprm is free software: you can redistribute it
7// and/or modify it under the terms of the GNU Lesser General Public
8// License as published by the Free Software Foundation, either version
9// 3 of the License, or (at your option) any later version.
10//
11// hpp-rbprm is distributed in the hope that it will be
12// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14// General Lesser Public License for more details. You should have
15// received a copy of the GNU Lesser General Public License along with
16// hpp-core If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_RBPRM_COM_RRT_SHOOTER_HH
20#define HPP_RBPRM_COM_RRT_SHOOTER_HH
21
22#include <hpp/core/path.hh>
23#include <hpp/pinocchio/device.hh>
24#include <hpp/rbprm/config.hh>
27#include <vector>
28
29namespace hpp {
30namespace rbprm {
31namespace interpolation {
32
34 ComRRTShooterFactory(core::PathPtr_t guidePath) : guidePath_(guidePath) {}
37 const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath,
38 const std::size_t pathDofRank, const hpp::rbprm::State &from,
39 const hpp::rbprm::State &to, const T_TimeDependant &tds,
40 core::ConfigProjectorPtr_t projector) const;
41 core::PathPtr_t guidePath_;
42};
43
45 EffectorRRTShooterFactory(core::PathPtr_t guidePath)
46 : guidePath_(guidePath) {}
49 const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath,
50 const std::size_t pathDofRank, const hpp::rbprm::State &from,
51 const hpp::rbprm::State &to, const T_TimeDependant &tds,
52 core::ConfigProjectorPtr_t projector) const;
53 core::PathPtr_t guidePath_;
54};
56} // namespace interpolation
57} // namespace rbprm
58} // namespace hpp
59
60#endif // HPP_RBPRM_COM_RRT_SHOOTER_HH
shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:35
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:73
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
Definition: com-rrt-shooter.hh:33
ComRRTShooterFactory(core::PathPtr_t guidePath)
Definition: com-rrt-shooter.hh:34
TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector) const
~ComRRTShooterFactory()
Definition: com-rrt-shooter.hh:35
core::PathPtr_t guidePath_
Definition: com-rrt-shooter.hh:41
~EffectorRRTShooterFactory()
Definition: com-rrt-shooter.hh:47
core::PathPtr_t guidePath_
Definition: com-rrt-shooter.hh:53
TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector) const
EffectorRRTShooterFactory(core::PathPtr_t guidePath)
Definition: com-rrt-shooter.hh:45