29 #ifndef HPP_CORE_PATH_HERMITE_HH 30 #define HPP_CORE_PATH_HERMITE_HH 89 return createCopy(weak_.lock(), constraints);
96 parameters_.row(1) = parameters_.row(0) + speed.transpose() / 3;
101 parameters_.row(2) = parameters_.row(3) - speed.transpose() / 3;
106 return 3 * (parameters_.row(1) - parameters_.row(0));
113 vector_t v1()
const {
return 3 * (parameters_.row(3) - parameters_.row(2)); }
121 void computeHermiteLength();
127 virtual std::ostream&
print(std::ostream& os)
const {
128 os <<
"Hermite:" << std::endl;
130 os <<
"initial configuration: " << initial().transpose() << std::endl;
131 os <<
"final configuration: " << end().transpose() << std::endl;
159 HermiteWkPtr_t weak_;
165 #endif // HPP_CORE_PATH_HERMITE_HH vector_t v1() const
Definition: hermite.hh:113
void init(HermitePtr_t self)
const value_type & hermiteLength() const
Definition: hermite.hh:119
void v0(const vectorIn_t &speed)
Definition: hermite.hh:95
void v1(const vectorIn_t &speed)
Definition: hermite.hh:100
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:107
static HermitePtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
Definition: hermite.hh:49
Definition: bi-rrt-planner.hh:35
virtual Configuration_t initial() const
Get the initial configuration.
Definition: hermite.hh:115
static HermitePtr_t createCopy(const HermitePtr_t &path)
Definition: hermite.hh:60
Spline< BernsteinBasis, 3 > parent_t
Definition: hermite.hh:44
static HermitePtr_t createCopy(const HermitePtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: hermite.hh:70
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:221
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
pinocchio::vector_t vector_t
Definition: fwd.hh:220
pinocchio::value_type value_type
Definition: fwd.hh:174
virtual std::ostream & print(std::ostream &os) const
virtual ~Hermite()
Destructor.
Definition: hermite.hh:47
Definition: hermite.hh:42
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: hermite.hh:127
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: hermite.hh:88
virtual PathPtr_t copy() const
Definition: hermite.hh:82
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:246
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
virtual Configuration_t end() const
Get the final configuration.
Definition: hermite.hh:117
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
vector_t v0() const
Definition: hermite.hh:105