#include <hpp/core/subchain-path.hh>

Inheritance diagram for hpp::core::SubchainPath:

Collaboration diagram for hpp::core::SubchainPath:

Public Types
typedef Path	parent_t

Public Member Functions
virtual	~SubchainPath ()
virtual PathPtr_t	copy () const
	Return a shared pointer to a copy of this.
virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
virtual bool	impl_compute (ConfigurationOut_t result, value_type param) const
	Function evaluation without applying constraints.
Configuration_t	initial () const
	Get the initial configuration.
Configuration_t	end () const
	Get the final configuration.
void	dofExtract (ConfigurationIn_t qin, ConfigurationOut_t qout) const
Public Member Functions inherited from hpp::core::Path
virtual	~Path ()
	Destructor.
template<class T>
shared_ptr< T >	as (void)
	Static cast into a derived type.
template<class T>
shared_ptr< const T >	as (void) const
	Static cast into a derived type.
PathPtr_t	extract (const interval_t &subInterval) const
PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const
virtual PathPtr_t	reverse () const
Configuration_t	eval (const value_type &time, bool &success) const
	Configuration at time.
bool	eval (ConfigurationOut_t result, const value_type &time) const
	Configuration at time.
bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints.
void	derivative (vectorOut_t result, const value_type &time, size_type order) const
void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
size_type	outputSize () const
	Get size of configuration space.
size_type	outputDerivativeSize () const
	Get size of velocity.
const interval_t &	timeRange () const
	Get interval of definition.
virtual value_type	length () const
	Get length of definition interval.
const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to.
const interval_t &	paramRange () const
const TimeParameterizationPtr_t &	timeParameterization () const
	Get the time parameterization function.
void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function.

Static Public Member Functions
static SubchainPathPtr_t	create (const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
static SubchainPathPtr_t	createCopy (const SubchainPathPtr_t &path)
static SubchainPathPtr_t	createCopy (const SubchainPathPtr_t &path, const ConstraintSetPtr_t &constraints)

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream.
	SubchainPath (const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
	SubchainPath (const SubchainPath &path)
	SubchainPath (const SubchainPath &path, const ConstraintSetPtr_t &constraints)
void	init (SubchainPathPtr_t self)
Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Path (const Path &path)
	Copy constructor.
	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints.
void	init (const PathWkPtr_t &self)
void	constraints (const ConstraintSetPtr_t &constraint)
virtual void	checkPath () const
	Should be called by child classes after having init.
void	timeRange (const interval_t &timeRange)
value_type	paramLength () const
Configuration_t	configAtParam (const value_type &param, bool &success) const
virtual void	impl_derivative (vectorOut_t derivative, const value_type &param, size_type order) const
virtual void	impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const
virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const
	Virtual implementation of extract.
	Path ()

Additional Inherited Members
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters.

Detailed Description

Result of the selection of some configuration parameter of an original path

Note: Decorator design pattern

Todo: the configuration parameter cannot be rearranged.

Member Typedef Documentation

◆ parent_t

typedef Path hpp::core::SubchainPath::parent_t

Constructor & Destructor Documentation

◆ ~SubchainPath()

virtual hpp::core::SubchainPath::~SubchainPath ( )

inlinevirtual

◆ SubchainPath() [1/3]

hpp::core::SubchainPath::SubchainPath	(	const PathPtr_t &	original,
		const segments_t &	confIntervals,
		const segments_t &	velIntervals )

inlineprotected

Constructor

Parameters

original	Path to extract,
confIntervals	of the configuration parameters to be extracted
velIntervals	of the configuration parameters to be extracted

◆ SubchainPath() [2/3]

hpp::core::SubchainPath::SubchainPath ( const SubchainPath & path )

inlineprotected

◆ SubchainPath() [3/3]

hpp::core::SubchainPath::SubchainPath	(	const SubchainPath &	path,
		const ConstraintSetPtr_t &	constraints )

inlineprotected

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::SubchainPath::copy ( ) const

inlinevirtual

Return a shared pointer to a copy of this.

Implements hpp::core::Path.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::SubchainPath::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this and set constraints

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

◆ create()

SubchainPathPtr_t hpp::core::SubchainPath::create	(	const PathPtr_t &	original,
		const segments_t &	confIntervals,
		const segments_t &	velIntervals )

inlinestatic

Constructor

Parameters

original	Path to extract,
confIntervals	of the configuration parameters to be extracted
velIntervals	of the configuration parameters to be extracted

◆ createCopy() [1/2]

SubchainPathPtr_t hpp::core::SubchainPath::createCopy ( const SubchainPathPtr_t & path )

inlinestatic

◆ createCopy() [2/2]

SubchainPathPtr_t hpp::core::SubchainPath::createCopy	(	const SubchainPathPtr_t &	path,
		const ConstraintSetPtr_t &	constraints )

inlinestatic

◆ dofExtract()

void hpp::core::SubchainPath::dofExtract	(	ConfigurationIn_t	qin,
		ConfigurationOut_t	qout ) const

inline

◆ end()

Configuration_t hpp::core::SubchainPath::end ( ) const

inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

◆ impl_compute()

virtual bool hpp::core::SubchainPath::impl_compute	(	ConfigurationOut_t	configuration,
		value_type	param ) const

inlinevirtual

Function evaluation without applying constraints.

Returns: true if everything went good.

Implements hpp::core::Path.

◆ init()

void hpp::core::SubchainPath::init ( SubchainPathPtr_t self )

inlineprotected

◆ initial()

Configuration_t hpp::core::SubchainPath::initial ( ) const

inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ print()

virtual std::ostream & hpp::core::SubchainPath::print ( std::ostream & os ) const

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

The documentation for this class was generated from the following file:

include/hpp/core/subchain-path.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~SubchainPath()

◆ SubchainPath() [1/3]

◆ SubchainPath() [2/3]

◆ SubchainPath() [3/3]

Member Function Documentation

◆ copy() [1/2]

◆ copy() [2/2]

◆ create()

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ dofExtract()

◆ end()

◆ impl_compute()

◆ init()

◆ initial()

◆ print()