hpp::core::PathProjector Class Reference

This class projects a path using constraints. More...

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

Inheritance diagram for hpp::core::PathProjector:

List of all members.

Public Types

typedef hpp::core::Path Path
typedef hpp::core::PathPtr_t PathPtr_t
typedef hpp::core::StraightPath StraightPath
typedef
hpp::core::StraightPathPtr_t 
StraightPathPtr_t
typedef hpp::core::PathVector PathVector
typedef hpp::core::PathVectorPtr_t PathVectorPtr_t

Public Member Functions

virtual ~PathProjector ()
 Destructor.
bool apply (const PathPtr_t path, PathPtr_t &projection) const
 Apply the constraints to the path.

Protected Member Functions

 PathProjector (const core::DistancePtr_t distance)
 Constructor.
virtual bool impl_apply (const StraightPathPtr_t path, PathPtr_t &projection) const =0
 Method to be reimplemented by inherited class.
value_type d (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Detailed Description

This class projects a path using constraints.


Member Typedef Documentation


Constructor & Destructor Documentation

virtual hpp::core::PathProjector::~PathProjector ( ) [virtual]

Destructor.

hpp::core::PathProjector::PathProjector ( const core::DistancePtr_t  distance) [protected]

Constructor.


Member Function Documentation

bool hpp::core::PathProjector::apply ( const PathPtr_t  path,
PathPtr_t projection 
) const

Apply the constraints to the path.

Parameters:
[in]theinput path,
[out]theoutput path.
Returns:
True if projection succeded
value_type hpp::core::PathProjector::d ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2 
) const [protected]
virtual bool hpp::core::PathProjector::impl_apply ( const StraightPathPtr_t  path,
PathPtr_t projection 
) const [protected, pure virtual]

Method to be reimplemented by inherited class.

Implemented in hpp::core::pathProjector::Progressive, and hpp::core::pathProjector::Dichotomy.