29 #ifndef HPP_CORE_KINODYNAMIC_PATH_HH 30 #define HPP_CORE_KINODYNAMIC_PATH_HH 35 #include <hpp/pinocchio/configuration.hh> 77 t0, t1, tv, t2, vLim);
95 device, init, end, length, a1, t0, t1, tv, t2, vLim, constraints);
135 return createCopy(weak_.lock(), constraints);
156 virtual std::ostream&
print(std::ostream& os)
const {
157 os <<
"KinodynamicPath:" << std::endl;
158 os <<
"interval: [ " << timeRange().first <<
", " << timeRange().second
159 <<
" ]" << std::endl;
160 os <<
"initial configuration: " << pinocchio::displayConfig(initial_)
162 os <<
"final configuration: " << pinocchio::displayConfig(end_)
189 parent_t::init(
self);
196 inline double sgnenum(
double val)
const {
return ((0. < val) - (val < 0.)); }
198 inline int sgn(
double d)
const {
return d >= 0.0 ? 1 : -1; }
200 inline double sgnf(
double d)
const {
return d >= 0.0 ? 1.0 : -1.0; }
205 KinodynamicPathWkPtr_t weak_;
213 #endif // HPP_CORE_KINODYNAMIC_PATH_HH int sgn(double d) const
Definition: kinodynamic-path.hh:198
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:206
vector_t getTv()
Definition: kinodynamic-path.hh:150
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: kinodynamic-path.hh:156
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
Definition: bi-rrt-planner.hh:35
StraightPath parent_t
Definition: kinodynamic-path.hh:61
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
virtual void checkPath() const
Should be called by child classes after having init.
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:109
const DevicePtr_t & device() const
Definition: kinodynamic-path.hh:202
virtual ~KinodynamicPath()
Destructor.
Definition: kinodynamic-path.hh:63
static KinodynamicPathPtr_t createCopy(const KinodynamicPathPtr_t &path)
Definition: kinodynamic-path.hh:104
vector_t getA1()
Definition: kinodynamic-path.hh:152
Definition: kinodynamic-path.hh:59
vector_t getT2()
Definition: kinodynamic-path.hh:148
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
pinocchio::vector_t vector_t
Definition: fwd.hh:220
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: kinodynamic-path.hh:134
pinocchio::value_type value_type
Definition: fwd.hh:174
vector_t getT1()
Definition: kinodynamic-path.hh:146
Definition: straight-path.hh:52
void init(KinodynamicPathPtr_t self)
Definition: kinodynamic-path.hh:188
static KinodynamicPathPtr_t createCopy(const KinodynamicPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: kinodynamic-path.hh:115
static KinodynamicPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim)
Definition: kinodynamic-path.hh:69
double sgnenum(double val) const
Definition: kinodynamic-path.hh:196
vector_t getT0()
Definition: kinodynamic-path.hh:144
double sgnf(double d) const
Definition: kinodynamic-path.hh:200
static KinodynamicPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints)
Definition: kinodynamic-path.hh:89
virtual PathPtr_t copy() const
Definition: kinodynamic-path.hh:128
#define HPP_CORE_DLLAPI
Definition: config.hh:88
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187