hpp::core::pathOptimization::PartialSplinePath Class Reference

Path for a robot partially defined by a cubic B-spline. More...

#include <hpp/core/path-optimization/partial-spline-path.hh>

Inheritance diagram for hpp::core::pathOptimization::PartialSplinePath:
Collaboration diagram for hpp::core::pathOptimization::PartialSplinePath:

List of all members.

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.

Detailed Description

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.


Member Typedef Documentation


Constructor & Destructor Documentation

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.


Member Function Documentation

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]

Function evaluation.

Returns:
true if everything went good.

Implements hpp::core::Path.

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.