Steering method and distance functions

Classes
class	hpp::core::Distance
	Abstract class for distance between configurations. More...
class	hpp::core::distance::ReedsShepp
class	hpp::core::KinodynamicDistance
class	hpp::core::SteeringMethod
class	hpp::core::steeringMethod::CarLike
class	hpp::core::steeringMethod::Dubins
class	hpp::core::steeringMethod::Hermite
class	hpp::core::steeringMethod::Interpolated
class	hpp::core::steeringMethod::ReedsShepp
class	hpp::core::steeringMethod::Snibud
class	hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >
class	hpp::core::steeringMethod::Kinodynamic
class	hpp::core::steeringMethod::Straight
class	hpp::core::WeighedDistance

Functions
std::vector< JointPtr_t >	hpp::core::steeringMethod::getWheelsFromParameter (const ProblemConstPtr_t &problem, const JointPtr_t &rz)
PathVectorPtr_t	hpp::core::steeringMethod::reedsSheppPathOrDistance (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type extraLength, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints, bool computeDistance, value_type &distance)
static StraightPtr_t	hpp::core::steeringMethod::Straight::create (const ProblemConstPtr_t &problem)
	Create instance and return shared pointer.
static StraightPtr_t	hpp::core::steeringMethod::Straight::createCopy (const StraightPtr_t &other)
	Copy instance and return shared pointer.
virtual SteeringMethodPtr_t	hpp::core::steeringMethod::Straight::copy () const
	Copy instance and return shared pointer.
virtual PathPtr_t	hpp::core::steeringMethod::Straight::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations
	hpp::core::steeringMethod::Straight::Straight (const ProblemConstPtr_t &problem)
	hpp::core::steeringMethod::Straight::Straight (const Straight &other)
	Copy constructor.
void	hpp::core::steeringMethod::Straight::init (StraightWkPtr_t weak)
	Store weak pointer to itself.

Detailed Description

Some system are subject to kinematic or dynamic constraints. Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another.

Function Documentation

copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Straight::copy ( ) const

inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

create()

StraightPtr_t hpp::core::steeringMethod::Straight::create ( const ProblemConstPtr_t & problem )

inlinestatic

Create instance and return shared pointer.

createCopy()

StraightPtr_t hpp::core::steeringMethod::Straight::createCopy ( const StraightPtr_t & other )

inlinestatic

Copy instance and return shared pointer.

getWheelsFromParameter()

std::vector< JointPtr_t > hpp::core::steeringMethod::getWheelsFromParameter	(	const ProblemConstPtr_t &	problem,
		const JointPtr_t &	rz )

impl_compute()

virtual PathPtr_t hpp::core::steeringMethod::Straight::impl_compute ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

init()

void hpp::core::steeringMethod::Straight::init ( StraightWkPtr_t weak )

inlineprotected

Store weak pointer to itself.

reedsSheppPathOrDistance()

PathVectorPtr_t hpp::core::steeringMethod::reedsSheppPathOrDistance	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	extraLength,
		value_type	rho,
		size_type	xyId,
		size_type	rzId,
		const std::vector< JointPtr_t >	wheels,
		ConstraintSetPtr_t	constraints,
		bool	computeDistance,
		value_type &	distance )

Create a Reeds and Shepp path and return shared pointer

Parameters

device	Robot corresponding to configurations,
init,end	start and end configurations of the path,
extraLength	the length of the path due to the non RS DoF,
rho	The radius of a turn,
xyId,rzId	indices in configuration vector of the joints corresponding to the translation and rotation of the car.

Straight() [1/2]

hpp::core::steeringMethod::Straight::Straight ( const ProblemConstPtr_t & problem )

inlineprotected

Constructor with robot Weighed distance is created from robot

Straight() [2/2]

hpp::core::steeringMethod::Straight::Straight ( const Straight & other )

inlineprotected

Copy constructor.