29 #ifndef HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH 30 #define HPP_MANIPULATION_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH 32 #include <hpp/core/path-optimization/spline-gradient-based.hh> 37 namespace manipulation {
40 namespace pathOptimization {
41 template <
int _PolynomeBasis,
int _SplineOrder>
43 :
public core::pathOptimization::SplineGradientBased<_PolynomeBasis,
46 enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
47 typedef core::pathOptimization::SplineGradientBased<PolynomeBasis,
50 typedef shared_ptr<SplineGradientBased>
Ptr_t;
52 using typename Parent_t::Spline;
53 using typename Parent_t::SplinePtr_t;
54 using typename Parent_t::Splines_t;
68 using typename Parent_t::SplineOptimizationDatas_t;
82 virtual void initializePathValidation(
const Splines_t& splines);
84 virtual void addProblemConstraints(
const core::PathVectorPtr_t& init,
85 const Splines_t& splines,
87 SplineOptimizationDatas_t& sods)
const;
89 virtual void constrainEndIntoState(
const core::PathPtr_t& path,
91 const SplinePtr_t& spline,
95 virtual void constraintDerivativesAtEndOfSpline(
const size_type& idxSpline,
96 const SplinePtr_t& spline,
104 #endif // HPP_MANIPULATION_PATH_OPTIMIZATION_GRADIENT_BASED_HH
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:67
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
hpp::core::pathOptimization::LinearConstraint LinearConstraint
Definition: spline-gradient-based.hh:67
core::pathOptimization::SplineGradientBased< PolynomeBasis, SplineOrder > Parent_t
Definition: spline-gradient-based.hh:49
shared_ptr< SplineGradientBased > Ptr_t
Definition: spline-gradient-based.hh:50
Definition: spline-gradient-based.hh:42
core::size_type size_type
Definition: fwd.hh:91
shared_ptr< State > StatePtr_t
Definition: fwd.hh:48