hpp::core::SteeringMethod Class Reference

Steering method. More...

#include <hpp/core/steering-method.hh>

Inheritance diagram for hpp::core::SteeringMethod:

List of all members.

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_tconstraints () 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

Detailed Description

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


Member Function Documentation

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]

create a path between two configurations

Returns:
a Path from q1 to q2 if found. An empty Path if Path could not be built.