hpp-core  4.11.0
Implement basic classes for canonical path planning for kinematic chains.
kinodynamic-distance.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
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14 // General Lesser Public License for more details. You should have
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17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_CORE_KINODYNAMIC_DISTANCE_HH
20 # define HPP_CORE_KINODYNAMIC_DISTANCE_HH
21 
22 # include <hpp/core/distance.hh>
23 
24 namespace hpp {
25 namespace core {
28 
36 
38 public:
39  static KinodynamicDistancePtr_t create (const DevicePtr_t& robot);
40  static KinodynamicDistancePtr_t createFromProblem
41  (const ProblemConstPtr_t& problem);
42 
43  static KinodynamicDistancePtr_t createCopy
44  (const KinodynamicDistancePtr_t& distance);
45  virtual DistancePtr_t clone () const;
46 
47 
49  const DevicePtr_t& robot () const
50  {
51  return robot_;
52  }
53 protected:
54  KinodynamicDistance (const DevicePtr_t& robot);
55  KinodynamicDistance (const ProblemConstPtr_t& problem);
56  KinodynamicDistance (const KinodynamicDistance& distance);
57  void init (KinodynamicDistanceWkPtr_t self);
59  virtual value_type impl_distance (ConfigurationIn_t q1,
60  ConfigurationIn_t q2) const;
61 
62  double computeMinTime(double p1, double p2, double v1, double v2)const ;
63 
64 
65 private:
66  DevicePtr_t robot_;
67  double aMax_;
68  double vMax_;
69  KinodynamicDistanceWkPtr_t weak_;
70 }; // class KinodynamicDistance
72 } // namespace core
73 } // namespace hpp
74 #endif // HPP_CORE_WEIGHED_DISTANCE_HH
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
Definition: bi-rrt-planner.hh:24
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:209
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
Definition: kinodynamic-distance.hh:37
const DevicePtr_t & robot() const
Get robot.
Definition: kinodynamic-distance.hh:49
pinocchio::value_type value_type
Definition: fwd.hh:157
Abstract class for distance between configurations.
Definition: distance.hh:35
#define HPP_CORE_DLLAPI
Definition: config.hh:64