This class projects a path using constraints. More...
#include <hpp/core/path-projector.hh>
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 |
This class projects a path using constraints.
virtual hpp::core::PathProjector::~PathProjector | ( | ) | [virtual] |
Destructor.
hpp::core::PathProjector::PathProjector | ( | const core::DistancePtr_t | distance | ) | [protected] |
Constructor.
Apply the constraints to the path.
[in] | the | input path, |
[out] | the | output path. |
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.