Abstraction of paths: mapping from time to configuration space. More...
#include <hpp/core/path.hh>
Public Member Functions | |
Configuration_t | operator() (const value_type &t) const throw () |
Configuration_t | operator() (const value_type &t, bool &success) const throw () |
bool | operator() (ConfigurationOut_t result, const value_type &t) const throw () |
size_type | outputSize () const |
Get size of configuration space. | |
size_type | outputDerivativeSize () const |
Get size of velocity. | |
const interval_t & | timeRange () const |
Get interval of definition. | |
value_type | length () const |
Get length of definition interval. | |
virtual Configuration_t | initial () const =0 |
Get the initial configuration. | |
virtual Configuration_t | end () const =0 |
Get the final configuration. | |
Construction, destruction, copy | |
virtual | ~Path () throw () |
Destructor. | |
virtual PathPtr_t | copy () const =0 |
Return a shared pointer to a copy of this. | |
template<class T > | |
boost::shared_ptr< T > | as (void) |
Static cast into a derived type. | |
template<class T > | |
boost::shared_ptr< const T > | as (void) const |
Static cast into a derived type. | |
virtual PathPtr_t | extract (const interval_t &subInterval) const |
Extraction/Reversion of a sub-path. | |
virtual PathPtr_t | reverse () const |
Reversion of a path. | |
Constraints | |
const ConstraintSetPtr_t & | constraints () const |
Get constraints the path is subject to. | |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraints the path is subject to. | |
Protected Member Functions | |
virtual std::ostream & | print (std::ostream &os) const =0 |
Print path in a stream. | |
Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize) | |
Constructor. | |
Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints) | |
Constructor. | |
Path (const Path &path) | |
Copy constructor. | |
void | init (const PathPtr_t &self) |
Store weak pointer to itself. | |
virtual bool | impl_compute (ConfigurationOut_t configuration, value_type t) const =0 |
Function evaluation. | |
Protected Attributes | |
interval_t | timeRange_ |
Interval of definition. | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const Path &path) |
Abstraction of paths: mapping from time to configuration space.
virtual hpp::core::Path::~Path | ( | ) | throw () [inline, virtual] |
Destructor.
hpp::core::Path::Path | ( | const interval_t & | interval, |
size_type | outputSize, | ||
size_type | outputDerivativeSize | ||
) | [inline, protected] |
Constructor.
interval | interval of definition of the path, |
outputSize | size of the output configuration, |
outputDerivativeSize | number of degrees of freedom of the underlying robot |
hpp::core::Path::Path | ( | const interval_t & | interval, |
size_type | outputSize, | ||
size_type | outputDerivativeSize, | ||
const ConstraintSetPtr_t & | constraints | ||
) | [inline, protected] |
Constructor.
interval | interval of definition of the path, |
outputSize | size of the output configuration, |
outputDerivativeSize | number of degrees of freedom of the underlying robot |
constraints | constraints the set is subject to, constraints are solved at each evaluation of the output configuration. |
hpp::core::Path::Path | ( | const Path & | path | ) | [inline, protected] |
Copy constructor.
boost::shared_ptr<T> hpp::core::Path::as | ( | void | ) | [inline] |
Static cast into a derived type.
boost::shared_ptr<const T> hpp::core::Path::as | ( | void | ) | const [inline] |
Static cast into a derived type.
const ConstraintSetPtr_t& hpp::core::Path::constraints | ( | ) | const [inline] |
Get constraints the path is subject to.
void hpp::core::Path::constraints | ( | const ConstraintSetPtr_t & | constraints | ) | [inline] |
Set constraints the path is subject to.
virtual PathPtr_t hpp::core::Path::copy | ( | ) | const [pure virtual] |
Return a shared pointer to a copy of this.
Implemented in hpp::core::pathOptimization::PartialSplinePath, hpp::core::StraightPath, and hpp::core::PathVector.
virtual Configuration_t hpp::core::Path::end | ( | ) | const [pure virtual] |
Get the final configuration.
Implemented in hpp::core::StraightPath, and hpp::core::PathVector.
virtual PathPtr_t hpp::core::Path::extract | ( | const interval_t & | subInterval | ) | const [virtual] |
Extraction/Reversion of a sub-path.
subInterval | interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed. |
Reimplemented in hpp::core::PathVector, and hpp::core::StraightPath.
virtual bool hpp::core::Path::impl_compute | ( | ConfigurationOut_t | configuration, |
value_type | t | ||
) | const [protected, pure virtual] |
Function evaluation.
Implemented in hpp::core::PathVector, hpp::core::StraightPath, and hpp::core::pathOptimization::PartialSplinePath.
void hpp::core::Path::init | ( | const PathPtr_t & | self | ) | [inline, protected] |
Store weak pointer to itself.
should be called at construction of derived class instances
virtual Configuration_t hpp::core::Path::initial | ( | ) | const [pure virtual] |
Get the initial configuration.
Implemented in hpp::core::StraightPath, and hpp::core::PathVector.
value_type hpp::core::Path::length | ( | ) | const [inline] |
Get length of definition interval.
Configuration_t hpp::core::Path::operator() | ( | const value_type & | t | ) | const throw () [inline] |
Configuration_t hpp::core::Path::operator() | ( | const value_type & | t, |
bool & | success | ||
) | const throw () [inline] |
bool hpp::core::Path::operator() | ( | ConfigurationOut_t | result, |
const value_type & | t | ||
) | const throw () [inline] |
size_type hpp::core::Path::outputDerivativeSize | ( | ) | const [inline] |
Get size of velocity.
size_type hpp::core::Path::outputSize | ( | ) | const [inline] |
Get size of configuration space.
virtual std::ostream& hpp::core::Path::print | ( | std::ostream & | os | ) | const [protected, pure virtual] |
Print path in a stream.
Implemented in hpp::core::StraightPath, hpp::core::PathVector, and hpp::core::pathOptimization::PartialSplinePath.
Referenced by hpp::core::operator<<().
virtual PathPtr_t hpp::core::Path::reverse | ( | ) | const [virtual] |
Reversion of a path.
const interval_t& hpp::core::Path::timeRange | ( | ) | const [inline] |
Get interval of definition.
std::ostream& operator<< | ( | std::ostream & | os, |
const Path & | path | ||
) | [friend] |
interval_t hpp::core::Path::timeRange_ [protected] |
Interval of definition.
Referenced by hpp::core::PathVector::PathVector().