29 #ifndef HPP_CORE_INTERPOLATED_PATH_HH 30 #define HPP_CORE_INTERPOLATED_PATH_HH 55 typedef std::map<value_type, Configuration_t, std::less<value_type>,
56 Eigen::aligned_allocator<InterpolationPoint_t> >
102 return create(device, init, end,
interval_t(0, length));
114 return create(device, init, end,
interval_t(0, length), constraints);
133 const std::size_t& nbSamples);
158 return createCopy(weak_.lock(), constraints);
181 virtual std::ostream&
print(std::ostream& os)
const {
182 os <<
"InterpolatedPath:" << std::endl;
184 os <<
"initial configuration: " << initial().transpose() << std::endl;
185 os <<
"final configuration: " << end().transpose() << std::endl;
200 const std::size_t& nbSamples);
226 InterpolationPoints_t configs_;
227 InterpolatedPathWkPtr_t weak_;
232 #endif // HPP_CORE_INTERPOLATED_PATH_HH virtual ~InterpolatedPath()
Destructor.
Definition: interpolated-path.hh:61
Configuration_t initial() const
Get the initial configuration.
Definition: interpolated-path.hh:172
std::pair< const value_type, Configuration_t > InterpolationPoint_t
Definition: interpolated-path.hh:54
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:107
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: interpolated-path.hh:181
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:211
void init(InterpolatedPathPtr_t self)
static InterpolatedPathPtr_t createCopy(const InterpolatedPathPtr_t &path)
Definition: interpolated-path.hh:119
Definition: bi-rrt-planner.hh:35
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
Definition: interpolated-path.hh:52
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:108
pinocchio::size_type size_type
Definition: fwd.hh:173
void initCopy(InterpolatedPathPtr_t self)
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t timeRange)
Definition: interpolated-path.hh:67
Configuration_t end() const
Get the final configuration.
Definition: interpolated-path.hh:175
Path parent_t
Definition: interpolated-path.hh:58
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: interpolated-path.hh:157
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t timeRange, ConstraintSetPtr_t constraints)
Definition: interpolated-path.hh:82
virtual PathPtr_t copy() const
Definition: interpolated-path.hh:151
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
Definition: interpolated-path.hh:98
pinocchio::value_type value_type
Definition: fwd.hh:174
virtual std::ostream & print(std::ostream &os) const
static InterpolatedPathPtr_t createCopy(const InterpolatedPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: interpolated-path.hh:138
void insert(const value_type &time, ConfigurationIn_t config)
Insert interpolation point.
Definition: interpolated-path.hh:167
std::map< value_type, Configuration_t, std::less< value_type >, Eigen::aligned_allocator< InterpolationPoint_t > > InterpolationPoints_t
Definition: interpolated-path.hh:57
static InterpolatedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
Definition: interpolated-path.hh:110
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:222
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
const InterpolationPoints_t & interpolationPoints() const
Definition: interpolated-path.hh:177
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187