Steering method. More...
#include <hpp/core/steering-method.hh>
Public Member Functions | |
PathPtr_t | operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
create a path between two configurations | |
Constraints applicable to the robot. | |
These constraints are not automatically taken into account. Child class can use it if they need. | |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraint set. | |
const ConstraintSetPtr_t & | constraints () const |
Get constraint set. | |
Protected Member Functions | |
virtual PathPtr_t | impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0 |
create a path between two configurations |
Steering method.
A steering method creates paths between pairs of configurations for a robot. They are usually used to take into account nonholonomic constraints of some robots
void hpp::core::SteeringMethod::constraints | ( | const ConstraintSetPtr_t & | constraints | ) | [inline] |
Set constraint set.
const ConstraintSetPtr_t& hpp::core::SteeringMethod::constraints | ( | ) | const [inline] |
Get constraint set.
virtual PathPtr_t hpp::core::SteeringMethod::impl_compute | ( | ConfigurationIn_t | q1, |
ConfigurationIn_t | q2 | ||
) | const [protected, pure virtual] |
create a path between two configurations
Implemented in hpp::core::SteeringMethodStraight.
PathPtr_t hpp::core::SteeringMethod::operator() | ( | ConfigurationIn_t | q1, |
ConfigurationIn_t | q2 | ||
) | const [inline] |