hpp-core 5.2.0
Implement basic classes for canonical path planning for kinematic chains.
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Steering method and distance functions

Classes

class  hpp::core::Distance
 Abstract class for distance between configurations. More...
 
class  hpp::core::distance::ReedsShepp
 
class  hpp::core::KinodynamicDistance
 
class  hpp::core::SteeringMethod
 
class  hpp::core::steeringMethod::CarLike
 
class  hpp::core::steeringMethod::Dubins
 
class  hpp::core::steeringMethod::Hermite
 
class  hpp::core::steeringMethod::Interpolated
 
class  hpp::core::steeringMethod::ReedsShepp
 
class  hpp::core::steeringMethod::Snibud
 
class  hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >
 
class  hpp::core::steeringMethod::Kinodynamic
 
class  hpp::core::steeringMethod::Straight
 
class  hpp::core::WeighedDistance
 

Functions

std::vector< JointPtr_thpp::core::steeringMethod::getWheelsFromParameter (const ProblemConstPtr_t &problem, const JointPtr_t &rz)
 
PathVectorPtr_t hpp::core::steeringMethod::reedsSheppPathOrDistance (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type extraLength, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints, bool computeDistance, value_type &distance)
 
static StraightPtr_t hpp::core::steeringMethod::Straight::create (const ProblemConstPtr_t &problem)
 Create instance and return shared pointer.
 
static StraightPtr_t hpp::core::steeringMethod::Straight::createCopy (const StraightPtr_t &other)
 Copy instance and return shared pointer.
 
virtual SteeringMethodPtr_t hpp::core::steeringMethod::Straight::copy () const
 Copy instance and return shared pointer.
 
virtual PathPtr_t hpp::core::steeringMethod::Straight::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 create a path between two configurations
 
 hpp::core::steeringMethod::Straight::Straight (const ProblemConstPtr_t &problem)
 
 hpp::core::steeringMethod::Straight::Straight (const Straight &other)
 Copy constructor.
 
void hpp::core::steeringMethod::Straight::init (StraightWkPtr_t weak)
 Store weak pointer to itself.
 

Detailed Description

Some system are subject to kinematic or dynamic constraints. Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another.

Function Documentation

◆ copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Straight::copy ( ) const
inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

◆ create()

static StraightPtr_t hpp::core::steeringMethod::Straight::create ( const ProblemConstPtr_t & problem)
inlinestatic

Create instance and return shared pointer.

◆ createCopy()

static StraightPtr_t hpp::core::steeringMethod::Straight::createCopy ( const StraightPtr_t & other)
inlinestatic

Copy instance and return shared pointer.

◆ getWheelsFromParameter()

std::vector< JointPtr_t > hpp::core::steeringMethod::getWheelsFromParameter ( const ProblemConstPtr_t & problem,
const JointPtr_t & rz )

◆ impl_compute()

virtual PathPtr_t hpp::core::steeringMethod::Straight::impl_compute ( ConfigurationIn_t q1,
ConfigurationIn_t q2 ) const
virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

◆ init()

void hpp::core::steeringMethod::Straight::init ( StraightWkPtr_t weak)
inlineprotected

Store weak pointer to itself.

◆ reedsSheppPathOrDistance()

PathVectorPtr_t hpp::core::steeringMethod::reedsSheppPathOrDistance ( const DevicePtr_t & device,
ConfigurationIn_t init,
ConfigurationIn_t end,
value_type extraLength,
value_type rho,
size_type xyId,
size_type rzId,
const std::vector< JointPtr_t > wheels,
ConstraintSetPtr_t constraints,
bool computeDistance,
value_type & distance )

Create a Reeds and Shepp path and return shared pointer

Parameters
deviceRobot corresponding to configurations,
init,endstart and end configurations of the path,
extraLengththe length of the path due to the non RS DoF,
rhoThe radius of a turn,
xyId,rzIdindices in configuration vector of the joints corresponding to the translation and rotation of the car.

◆ Straight() [1/2]

hpp::core::steeringMethod::Straight::Straight ( const ProblemConstPtr_t & problem)
inlineprotected

Constructor with robot Weighed distance is created from robot

◆ Straight() [2/2]

hpp::core::steeringMethod::Straight::Straight ( const Straight & other)
inlineprotected

Copy constructor.