30#ifndef HPP_CORE_STEERING_METHOD_DUBINS_HH
31#define HPP_CORE_STEERING_METHOD_DUBINS_HH
37#include <hpp/util/debug.hh>
38#include <hpp/util/pointer.hh>
71 std::vector<JointPtr_t> wheels = std::vector<JointPtr_t>()) {
100 std::vector<JointPtr_t> wheels);
106 void init(DubinsWkPtr_t weak) {
ProblemConstPtr_t problem() const
Definition steering-method.hh:76
void init(CarLikeWkPtr_t weak)
Store weak pointer to itself.
Definition car-like.hh:75
void turningRadius(const value_type &rho)
CarLike(const ProblemConstPtr_t &problem)
Constructor.
static DubinsPtr_t create(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels=std::vector< JointPtr_t >())
Definition dubins.hh:68
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
create a path between two configurations
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition dubins.hh:87
void init(DubinsWkPtr_t weak)
Store weak pointer to itself.
Definition dubins.hh:106
static DubinsPtr_t createWithGuess(const ProblemConstPtr_t &problem)
Definition dubins.hh:58
Dubins(const Dubins &other)
Copy constructor.
Dubins(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels)
Constructor.
static DubinsPtr_t createCopy(const DubinsPtr_t &other)
Copy instance and return shared pointer.
Definition dubins.hh:79
Dubins(const ProblemConstPtr_t &problem)
Constructor.
#define HPP_CORE_DLLAPI
Definition config.hh:88
shared_ptr< Dubins > DubinsPtr_t
Definition fwd.hh:45
Definition bi-rrt-planner.hh:36
pinocchio::value_type value_type
Definition fwd.hh:174
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition fwd.hh:213
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:151
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
Definition bi-rrt-planner.hh:35