29#ifndef HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
30#define HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
57 device,
init,
end,
length, a1, t0, t1, tv, t2, vLim,
ignoreZValue);
138 virtual std::ostream&
print(std::ostream& os)
const {
139 os <<
"KinodynamicOrientedPath:" << std::endl;
141 <<
" ]" << std::endl;
142 os <<
"initial configuration: " << pinocchio::displayConfig(
initial_)
144 os <<
"final configuration: " << pinocchio::displayConfig(
end_)
188 KinodynamicOrientedPathWkPtr_t weak_;
KinodynamicOrientedPath(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, bool ignoreZValue)
Constructor.
static KinodynamicOrientedPathPtr_t createCopy(const KinodynamicOrientedPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition kinodynamic-oriented-path.hh:108
void ignoreZValue(bool ignoreZValue)
Definition kinodynamic-oriented-path.hh:134
KinodynamicOrientedPath(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints, bool ignoreZValue)
Constructor with constraints.
KinodynamicPath parent_t
Definition kinodynamic-oriented-path.hh:44
bool ignoreZValue() const
Definition kinodynamic-oriented-path.hh:133
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition kinodynamic-oriented-path.hh:138
static KinodynamicOrientedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, bool ignoreZValue=false)
Definition kinodynamic-oriented-path.hh:51
void init(KinodynamicOrientedPathPtr_t self)
Definition kinodynamic-oriented-path.hh:177
virtual PathPtr_t copy() const
Definition kinodynamic-oriented-path.hh:123
KinodynamicOrientedPath(const KinodynamicOrientedPath &path, const ConstraintSetPtr_t &constraints)
Copy constructor with constraints.
void orienteInitAndGoal(const DevicePtr_t &device)
virtual ~KinodynamicOrientedPath()
Definition kinodynamic-oriented-path.hh:45
static KinodynamicOrientedPathPtr_t createCopy(const KinodynamicOrientedPathPtr_t &path)
Definition kinodynamic-oriented-path.hh:86
virtual PathPtr_t impl_extract(const interval_t &subInterval) const
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition kinodynamic-oriented-path.hh:129
virtual bool impl_compute(ConfigurationOut_t result, value_type t) const
Function evaluation without applying constraints.
static KinodynamicOrientedPathPtr_t create(const KinodynamicPathPtr_t &path, bool ignoreZValue=false)
Definition kinodynamic-oriented-path.hh:95
static KinodynamicOrientedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints, bool ignoreZValue=false)
Definition kinodynamic-oriented-path.hh:69
KinodynamicOrientedPath(const KinodynamicPath &path, bool ignoreZValue)
constructor from KinodynamicPath
KinodynamicOrientedPath(const KinodynamicOrientedPath &path)
Copy constructor.
const DevicePtr_t & device() const
Definition kinodynamic-path.hh:202
void init(KinodynamicPathPtr_t self)
Definition kinodynamic-path.hh:188
KinodynamicPath(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim)
Constructor.
const interval_t & timeRange() const
Get interval of definition.
Definition path.hh:190
const ConstraintSetPtr_t & constraints() const
Get constraints the path is subject to.
Definition path.hh:204
virtual value_type length() const
Get length of definition interval.
Definition path.hh:193
virtual void checkPath() const
Should be called by child classes after having init.
Configuration_t initial_
Definition straight-path.hh:211
Configuration_t end() const
Get the final configuration.
Definition straight-path.hh:169
Configuration_t end_
Definition straight-path.hh:212
#define HPP_CORE_DLLAPI
Definition config.hh:88
Definition bi-rrt-planner.hh:36
pinocchio::value_type value_type
Definition fwd.hh:174
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition fwd.hh:109
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition fwd.hh:206
std::pair< value_type, value_type > interval_t
Definition fwd.hh:175
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition fwd.hh:208
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition fwd.hh:130
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
Definition bi-rrt-planner.hh:35