hpp-python: include/pyhpp/manipulation/steering-method/cartesian.hh Source File

hpp-python 9.0.2 python bindings for HPP, based on boost python

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cartesian.hh
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1//
2// Copyright (c) 2026, CNRS
3// Authors: Florent Lamiraux
4//
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions
7// are met:
8
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11
12// 2. Redistributions in binary form must reproduce the above
13// copyright notice, this list of conditions and the following
14// disclaimer in the documentation and/or other materials provided
15// with the distribution.
16
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
20// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
21// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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29
30#ifndef PYHPP_MANIPULATION_STEERING_METHOD_CARTESIAN_HH
31#define PYHPP_MANIPULATION_STEERING_METHOD_CARTESIAN_HH
32
33#include <hpp/manipulation/steering-method/cartesian.hh>
34#include <pyhpp/core/problem.hh>
35
36namespace pyhpp {
37namespace manipulation {
38 namespace steeringMethod {
39
40 typedef hpp::constraints::Configuration_t Configuration_t;
41typedef hpp::constraints::DifferentiableFunctionPtr_t
42 DifferentiableFunctionPtr_t;
43 typedef hpp::constraints::interval_t interval_t;
44 typedef hpp::constraints::ImplicitPtr_t ImplicitPtr_t;
45 typedef hpp::constraints::size_type size_type;
46 typedef hpp::constraints::value_type value_type;
47 typedef hpp::core::PathPtr_t PathPtr_t;
48
49 class Cartesian {
50 public:
51 hpp::manipulation::steeringMethod::CartesianPtr_t obj;
52 Cartesian(const pyhpp::core::Problem& problem);
53 void setMaxIterations(size_type iterations);
54 size_type getMaxIterations() const;
55 void setErrorThreshold(value_type threshold);
56 value_type getErrorThreshold() const;
57 void setTrajectoryConstraint(const ImplicitPtr_t& ic);
58 ImplicitPtr_t getTrajectoryConstraint();
59 void setRightHandSide1(const PathPtr_t& rhs, bool se3Output);
60 void setRightHandSide2(const DifferentiableFunctionPtr_t& rhs,
61 const interval_t& timeRange);
62 DifferentiableFunctionPtr_t getRightHandSide() const;
63 interval_t getTimeRange() const;
64 size_type getNDiscreteSteps() const;
65 void setNDiscreteSteps(size_type n);
66 boost::python::tuple planPath(const Configuration_t& q_init);
67};
68
69void exposeCartesian();
70} // namespace steeringMethod
71} // namespace manipulation
72} // namespace pyhpp
73
74#endif
hpp::core::Problem
pyhpp::manipulation::steeringMethod::Cartesian
Definition cartesian.hh:49
pyhpp::manipulation::steeringMethod::Cartesian::setMaxIterations
void setMaxIterations(size_type iterations)
Definition cartesian.cc:46
pyhpp::manipulation::steeringMethod::Cartesian::setNDiscreteSteps
void setNDiscreteSteps(size_type n)
Definition cartesian.cc:74
pyhpp::manipulation::steeringMethod::Cartesian::getNDiscreteSteps
size_type getNDiscreteSteps() const
Definition cartesian.cc:73
pyhpp::manipulation::steeringMethod::Cartesian::setErrorThreshold
void setErrorThreshold(value_type threshold)
Definition cartesian.cc:50
pyhpp::manipulation::steeringMethod::Cartesian::getMaxIterations
size_type getMaxIterations() const
Definition cartesian.cc:49
pyhpp::manipulation::steeringMethod::Cartesian::planPath
boost::python::tuple planPath(const Configuration_t &q_init)
Definition cartesian.cc:75
pyhpp::manipulation::steeringMethod::Cartesian::getTrajectoryConstraint
ImplicitPtr_t getTrajectoryConstraint()
Definition cartesian.cc:59
pyhpp::manipulation::steeringMethod::Cartesian::setRightHandSide1
void setRightHandSide1(const PathPtr_t &rhs, bool se3Output)
Definition cartesian.cc:62
pyhpp::manipulation::steeringMethod::Cartesian::getErrorThreshold
value_type getErrorThreshold() const
Definition cartesian.cc:53
pyhpp::manipulation::steeringMethod::Cartesian::setRightHandSide2
void setRightHandSide2(const DifferentiableFunctionPtr_t &rhs, const interval_t &timeRange)
Definition cartesian.cc:65
pyhpp::manipulation::steeringMethod::Cartesian::getTimeRange
interval_t getTimeRange() const
Definition cartesian.cc:72
pyhpp::manipulation::steeringMethod::Cartesian::getRightHandSide
DifferentiableFunctionPtr_t getRightHandSide() const
Definition cartesian.cc:69
pyhpp::manipulation::steeringMethod::Cartesian::setTrajectoryConstraint
void setTrajectoryConstraint(const ImplicitPtr_t &ic)
Definition cartesian.cc:56
pyhpp::manipulation::steeringMethod::Cartesian::Cartesian
Cartesian(const pyhpp::core::Problem &problem)
Definition cartesian.cc:43
pyhpp::manipulation::steeringMethod::Cartesian::obj
hpp::manipulation::steeringMethod::CartesianPtr_t obj
Definition cartesian.hh:51
problem
ProblemConstPtr_t problem() const
problem.hh
hpp::constraints::Configuration_t
pinocchio::Configuration_t Configuration_t
hpp::constraints::DifferentiableFunctionPtr_t
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
hpp::constraints::ImplicitPtr_t
shared_ptr< Implicit > ImplicitPtr_t
hpp::constraints::interval_t
std::pair< value_type, value_type > interval_t
hpp::constraints::size_type
pinocchio::size_type size_type
hpp::constraints::value_type
pinocchio::value_type value_type
hpp::core::value_type
pinocchio::value_type value_type
hpp::core::interval_t
std::pair< value_type, value_type > interval_t
hpp::core::size_type
pinocchio::size_type size_type
hpp::core::DifferentiableFunctionPtr_t
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
hpp::manipulation::steeringMethod::CartesianPtr_t
shared_ptr< Cartesian > CartesianPtr_t
pyhpp::manipulation::steeringMethod::value_type
hpp::constraints::value_type value_type
Definition cartesian.hh:46
pyhpp::manipulation::steeringMethod::DifferentiableFunctionPtr_t
hpp::constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition cartesian.hh:42
pyhpp::manipulation::steeringMethod::ImplicitPtr_t
hpp::constraints::ImplicitPtr_t ImplicitPtr_t
Definition cartesian.hh:44
pyhpp::manipulation::steeringMethod::PathPtr_t
hpp::core::PathPtr_t PathPtr_t
Definition cartesian.hh:47
pyhpp::manipulation::steeringMethod::size_type
hpp::constraints::size_type size_type
Definition cartesian.hh:45
pyhpp::manipulation::steeringMethod::interval_t
hpp::constraints::interval_t interval_t
Definition cartesian.hh:43
pyhpp::manipulation::steeringMethod::Configuration_t
hpp::constraints::Configuration_t Configuration_t
Definition cartesian.hh:40
pyhpp::manipulation::steeringMethod::exposeCartesian
void exposeCartesian()
Definition cartesian.cc:82
pyhpp
Definition fwd.hh:35