Path for a robot partially defined by a cubic B-spline. More...
#include <hpp/core/path-optimization/partial-spline-path.hh>
Public Types | |
typedef Path | parent_t |
Public Member Functions | |
virtual std::ostream & | print (std::ostream &os) const |
Print path in a stream. | |
Protected Member Functions | |
PartialSplinePath (const DevicePtr_t &robot, const PathPtr_t &path, const JointVector_t &joints, const std::vector< value_type > &knots) | |
Constructor. | |
PartialSplinePath (const PartialSplinePathPtr_t &path) | |
Copy constructor. | |
void | init (PartialSplinePathPtr_t self) |
virtual void | impl_compute (ConfigurationOut_t result, value_type t) const |
Function evaluation. | |
Construction, destruction, copy | |
static PartialSplinePathPtr_t | create (const PathPtr_t &path, const JointVector_t &joints, const std::vector< value_type > &knots) |
Create instance and return shared pointer. | |
static PartialSplinePathPtr_t | create (const roboptim::trajectory::CubicBSpline &spline) |
Create instance from a CubicBSpline and return a shared pointer. | |
virtual PathPtr_t | copy () const |
Return a shared pointer to a copy of this. | |
virtual | ~PartialSplinePath () throw () |
Destructor. |
Path for a robot partially defined by a cubic B-spline.
Some configuration variables specified at construction are defined by an internal cubic B-spline while the other configuration variables are defined by a path given at construction.
This enables users to perform numerical optimization on some joints only, keeping the trajectory of other joints constant.
virtual hpp::core::pathOptimization::PartialSplinePath::~PartialSplinePath | ( | ) | throw () [inline, virtual] |
Destructor.
hpp::core::pathOptimization::PartialSplinePath::PartialSplinePath | ( | const DevicePtr_t & | robot, |
const PathPtr_t & | path, | ||
const JointVector_t & | joints, | ||
const std::vector< value_type > & | knots | ||
) | [protected] |
Constructor.
hpp::core::pathOptimization::PartialSplinePath::PartialSplinePath | ( | const PartialSplinePathPtr_t & | path | ) | [protected] |
Copy constructor.
virtual PathPtr_t hpp::core::pathOptimization::PartialSplinePath::copy | ( | ) | const [inline, virtual] |
Return a shared pointer to a copy of this.
Implements hpp::core::Path.
static PartialSplinePathPtr_t hpp::core::pathOptimization::PartialSplinePath::create | ( | const PathPtr_t & | path, |
const JointVector_t & | joints, | ||
const std::vector< value_type > & | knots | ||
) | [inline, static] |
Create instance and return shared pointer.
References init().
static PartialSplinePathPtr_t hpp::core::pathOptimization::PartialSplinePath::create | ( | const roboptim::trajectory::CubicBSpline & | spline | ) | [inline, static] |
Create instance from a CubicBSpline and return a shared pointer.
References init().
virtual void hpp::core::pathOptimization::PartialSplinePath::impl_compute | ( | ConfigurationOut_t | configuration, |
value_type | t | ||
) | const [protected, virtual] |
void hpp::core::pathOptimization::PartialSplinePath::init | ( | PartialSplinePathPtr_t | self | ) | [inline, protected] |
Referenced by create().
virtual std::ostream& hpp::core::pathOptimization::PartialSplinePath::print | ( | std::ostream & | os | ) | const [inline, virtual] |
Print path in a stream.
Implements hpp::core::Path.