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

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

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steering-method.hh
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1// problem.hh
2//
3// Copyright (c) 2025, CNRS
4// Authors: Paul Sardin
5//
6// This file is part of hpp-python
7// hpp-python is free software—you can redistribute it
8// and/or modify it under the terms of the GNU Lesser General Public
9// License as published by the Free Software Foundation, either version
10// 3 of the License, or (at your option) any later version.
11//
12// hpp-python is distributed in the hope that it will be
13// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
14// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15// Lesser General Public License for more details. You should have
16// received a copy of the GNU Lesser General Public License along with
17// hpp-python. If not, see <http://www.gnu.org/licenses/>.
18
19#ifndef PYHPP_MANIPULATION_STEERING_METHOD_HH
20#define PYHPP_MANIPULATION_STEERING_METHOD_HH
21
22#include <hpp/constraints/differentiable-function.hh>
23#include <hpp/core/path.hh>
24#include <hpp/core/steering-method.hh>
25#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
26#include <hpp/manipulation/steering-method/graph.hh>
27#include <pyhpp/core/problem.hh>
28#include <pyhpp/core/steering-method.hh>
29
30namespace pyhpp {
31namespace manipulation {
32
33using namespace boost::python;
34typedef pyhpp::core::PyWSteeringMethodPtr_t PyWSteeringMethodPtr_t;
35
36 struct GraphSteeringMethod {
37 hpp::manipulation::steeringMethod::GraphPtr_t obj;
38 GraphSteeringMethod(const PyWSteeringMethodPtr_t& steeringMethodWrapper);
39};
40
41 struct EndEffectorTrajectorySteeringMethod : pyhpp::core::SteeringMethod {
42 hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t eetObj() const;
43 EndEffectorTrajectorySteeringMethod(
44 const hpp::core::ProblemConstPtr_t& problem);
45 void setTrajectoryConstraint(const hpp::constraints::ImplicitPtr_t& ic);
46 void setTrajectory(const hpp::core::PathPtr_t& eeTraj, bool se3Output);
47};
48} // namespace manipulation
49} // namespace pyhpp
50#endif // PYHPP_MANIPULATION_STEERING_METHOD_HH
hpp::core::SteeringMethod
hpp::core::SteeringMethod::problem
ProblemConstPtr_t problem() const
Definition steering-method.cc:133
differentiable-function.hh
problem.hh
steering-method.hh
hpp::constraints::ImplicitPtr_t
shared_ptr< Implicit > ImplicitPtr_t
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
hpp::manipulation::steeringMethod::GraphPtr_t
shared_ptr< Graph > GraphPtr_t
pyhpp::core::PyWSteeringMethodPtr_t
std::shared_ptr< SteeringMethod > PyWSteeringMethodPtr_t
Definition problem.hh:43
pyhpp::manipulation
Definition fwd.hh:36
pyhpp::manipulation::PyWSteeringMethodPtr_t
pyhpp::core::PyWSteeringMethodPtr_t PyWSteeringMethodPtr_t
Definition path-projector.cc:49
pyhpp
Definition fwd.hh:35
path.hh
end-effector-trajectory.hh
graph.hh
pyhpp::manipulation::EndEffectorTrajectorySteeringMethod::setTrajectoryConstraint
void setTrajectoryConstraint(const hpp::constraints::ImplicitPtr_t &ic)
Definition steering-method.cc:77
pyhpp::manipulation::EndEffectorTrajectorySteeringMethod::eetObj
hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t eetObj() const
Definition steering-method.cc:64
pyhpp::manipulation::EndEffectorTrajectorySteeringMethod::EndEffectorTrajectorySteeringMethod
EndEffectorTrajectorySteeringMethod(const hpp::core::ProblemConstPtr_t &problem)
Definition steering-method.cc:71
pyhpp::manipulation::EndEffectorTrajectorySteeringMethod::setTrajectory
void setTrajectory(const hpp::core::PathPtr_t &eeTraj, bool se3Output)
Definition steering-method.cc:82
pyhpp::manipulation::GraphSteeringMethod::obj
hpp::manipulation::steeringMethod::GraphPtr_t obj
Definition steering-method.hh:37
pyhpp::manipulation::GraphSteeringMethod::GraphSteeringMethod
GraphSteeringMethod(const PyWSteeringMethodPtr_t &steeringMethodWrapper)
Definition steering-method.cc:54