hpp-core 5.1.0
Implement basic classes for canonical path planning for kinematic chains.
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hpp::core::SubchainPath Class Reference

#include <hpp/core/subchain-path.hh>

Inheritance diagram for hpp::core::SubchainPath:
Collaboration diagram for hpp::core::SubchainPath:

Public Types

typedef Path parent_t
 

Public Member Functions

virtual ~SubchainPath ()
 
virtual PathPtr_t copy () const
 Return a shared pointer to a copy of this.
 
virtual PathPtr_t copy (const ConstraintSetPtr_t &constraints) const
 
virtual bool impl_compute (ConfigurationOut_t result, value_type param) const
 Function evaluation without applying constraints.
 
Configuration_t initial () const
 Get the initial configuration.
 
Configuration_t end () const
 Get the final configuration.
 
void dofExtract (ConfigurationIn_t qin, ConfigurationOut_t qout) const
 
- Public Member Functions inherited from hpp::core::Path
virtual ~Path ()
 Destructor.
 
template<class T >
shared_ptr< T > as (void)
 Static cast into a derived type.
 
template<class T >
shared_ptr< const T > as (void) const
 Static cast into a derived type.
 
PathPtr_t extract (const interval_t &subInterval) const
 
PathPtr_t extract (const value_type &tmin, const value_type &tmax) const
 
virtual PathPtr_t reverse () const
 
Configuration_t eval (const value_type &time, bool &success) const
 Configuration at time.
 
bool eval (ConfigurationOut_t result, const value_type &time) const
 Configuration at time.
 
bool at (const value_type &time, ConfigurationOut_t result) const
 Get the configuration at a parameter without applying the constraints.
 
void derivative (vectorOut_t result, const value_type &time, size_type order) const
 
void velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
 
size_type outputSize () const
 Get size of configuration space.
 
size_type outputDerivativeSize () const
 Get size of velocity.
 
const interval_ttimeRange () const
 Get interval of definition.
 
virtual value_type length () const
 Get length of definition interval.
 
const ConstraintSetPtr_tconstraints () const
 Get constraints the path is subject to.
 
const interval_tparamRange () const
 
const TimeParameterizationPtr_ttimeParameterization () const
 Get the time parameterization function.
 
void timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
 Set the time parameterization function.
 

Static Public Member Functions

static SubchainPathPtr_t create (const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
 
static SubchainPathPtr_t createCopy (const SubchainPathPtr_t &path)
 
static SubchainPathPtr_t createCopy (const SubchainPathPtr_t &path, const ConstraintSetPtr_t &constraints)
 

Protected Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream.
 
 SubchainPath (const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
 
 SubchainPath (const SubchainPath &path)
 
 SubchainPath (const SubchainPath &path, const ConstraintSetPtr_t &constraints)
 
void init (SubchainPathPtr_t self)
 
- Protected Member Functions inherited from hpp::core::Path
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
 
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
 
 Path (const Path &path)
 Copy constructor.
 
 Path (const Path &path, const ConstraintSetPtr_t &constraints)
 Copy constructor with constraints.
 
void init (const PathWkPtr_t &self)
 
void constraints (const ConstraintSetPtr_t &constraint)
 
virtual void checkPath () const
 Should be called by child classes after having init.
 
void timeRange (const interval_t &timeRange)
 
value_type paramLength () const
 
Configuration_t configAtParam (const value_type &param, bool &success) const
 
virtual void impl_derivative (vectorOut_t derivative, const value_type &param, size_type order) const
 
virtual void impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const
 
virtual PathPtr_t impl_extract (const interval_t &paramInterval) const
 Virtual implementation of extract.
 
 Path ()
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::Path
interval_t paramRange_
 Interval of parameters.
 

Detailed Description

Result of the selection of some configuration parameter of an original path

Note
Decorator design pattern
Todo
the configuration parameter cannot be rearranged.

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~SubchainPath()

virtual hpp::core::SubchainPath::~SubchainPath ( )
inlinevirtual

◆ SubchainPath() [1/3]

hpp::core::SubchainPath::SubchainPath ( const PathPtr_t & original,
const segments_t & confIntervals,
const segments_t & velIntervals )
inlineprotected

Constructor

Parameters
originalPath to extract,
confIntervalsof the configuration parameters to be extracted
velIntervalsof the configuration parameters to be extracted

◆ SubchainPath() [2/3]

hpp::core::SubchainPath::SubchainPath ( const SubchainPath & path)
inlineprotected

◆ SubchainPath() [3/3]

hpp::core::SubchainPath::SubchainPath ( const SubchainPath & path,
const ConstraintSetPtr_t & constraints )
inlineprotected

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::SubchainPath::copy ( ) const
inlinevirtual

Return a shared pointer to a copy of this.

Implements hpp::core::Path.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::SubchainPath::copy ( const ConstraintSetPtr_t & constraints) const
inlinevirtual

Return a shared pointer to a copy of this and set constraints

Parameters
constraintsconstraints to apply to the copy
Precondition
*this should not have constraints.

Implements hpp::core::Path.

◆ create()

static SubchainPathPtr_t hpp::core::SubchainPath::create ( const PathPtr_t & original,
const segments_t & confIntervals,
const segments_t & velIntervals )
inlinestatic

Constructor

Parameters
originalPath to extract,
confIntervalsof the configuration parameters to be extracted
velIntervalsof the configuration parameters to be extracted

◆ createCopy() [1/2]

static SubchainPathPtr_t hpp::core::SubchainPath::createCopy ( const SubchainPathPtr_t & path)
inlinestatic

◆ createCopy() [2/2]

static SubchainPathPtr_t hpp::core::SubchainPath::createCopy ( const SubchainPathPtr_t & path,
const ConstraintSetPtr_t & constraints )
inlinestatic

◆ dofExtract()

void hpp::core::SubchainPath::dofExtract ( ConfigurationIn_t qin,
ConfigurationOut_t qout ) const
inline

◆ end()

Configuration_t hpp::core::SubchainPath::end ( ) const
inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

◆ impl_compute()

virtual bool hpp::core::SubchainPath::impl_compute ( ConfigurationOut_t configuration,
value_type param ) const
inlinevirtual

Function evaluation without applying constraints.

Returns
true if everything went good.

Implements hpp::core::Path.

◆ init()

void hpp::core::SubchainPath::init ( SubchainPathPtr_t self)
inlineprotected

◆ initial()

Configuration_t hpp::core::SubchainPath::initial ( ) const
inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ print()

virtual std::ostream & hpp::core::SubchainPath::print ( std::ostream & os) const
inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.


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