hpp-core  4.13.0
Implement basic classes for canonical path planning for kinematic chains.
path-projector.hh
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1 // Copyright (c) 2014, LAAS-CNRS
2 // Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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28 
29 #ifndef HPP_CORE_PATHPROJECTOR_HH
30 #define HPP_CORE_PATHPROJECTOR_HH
31 
32 #include <hpp/core/config.hh>
33 #include <hpp/core/fwd.hh>
34 
35 namespace hpp {
36 namespace core {
39  public:
44 
46  virtual ~PathProjector();
47 
52  bool apply(const PathPtr_t& path, PathPtr_t& projection) const;
53 
54  protected:
62  PathProjector(const DistancePtr_t& distance,
63  const SteeringMethodPtr_t& steeringMethod,
64  bool keepSteeringMethodConstraints = false);
65 
67  virtual bool impl_apply(const PathPtr_t& path,
68  PathPtr_t& projection) const = 0;
69 
71  PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
73 
74  private:
75  DistancePtr_t distance_;
76 };
77 } // namespace core
78 } // namespace hpp
79 
80 #endif // HPP_CORE_PATHPROJECTOR_HH
hpp::core::PathPtr_t PathPtr_t
Definition: path-projector.hh:41
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
hpp::core::PathVector PathVector
Definition: path-projector.hh:42
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:182
Definition: bi-rrt-planner.hh:35
This class projects a path using constraints.
Definition: path-projector.hh:38
hpp::core::PathVectorPtr_t PathVectorPtr_t
Definition: path-projector.hh:43
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:130
hpp::core::Path Path
Definition: path-projector.hh:40
pinocchio::value_type value_type
Definition: fwd.hh:163
Concatenation of several paths.
Definition: path-vector.hh:43
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:202
SteeringMethodPtr_t steeringMethod_
Definition: path-projector.hh:72
Definition: path.hh:71
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:176