19 #ifndef HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH 20 # define HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH 28 namespace steeringMethod {
54 const JointPtr_t rz,
const std::vector<JointPtr_t> wheels,
99 virtual std::ostream&
print (std::ostream &os)
const;
120 const std::vector<JointPtr_t> wheels);
142 const std::vector<JointPtr_t> wheels,
166 void init (
const ConstantCurvatureWkPtr_t& weak)
180 const std::vector<JointPtr_t> wheels);
190 std::vector<Wheels_t> wheels_;
191 ConstantCurvatureWkPtr_t weak_;
199 #endif // HPP_CORE_STEERING_METHOD_CONSTANT_CURVATURE_HH virtual void impl_velocityBound(vectorOut_t bound, const value_type ¶m0, const value_type ¶m1) const
Virtual implementation of velocity bound.
Wheels_t()
Definition: constant-curvature.hh:94
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
virtual bool impl_compute(ConfigurationOut_t result, value_type param) const
Function evaluation without applying constraints.
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
Definition: bi-rrt-planner.hh:24
ConstantCurvature()
For serialization only.
Definition: constant-curvature.hh:173
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
Path parent_t
Definition: constant-curvature.hh:32
pinocchio::size_type size_type
Definition: fwd.hh:156
static ConstantCurvaturePtr_t createCopy(const ConstantCurvaturePtr_t &other)
Create instance and return shared pointer.
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
const ConstraintSetPtr_t & constraints() const
Get constraints the path is subject to.
Definition: path.hh:226
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: constant-curvature.hh:72
value_type value
Definition: constant-curvature.hh:92
shared_ptr< ConstantCurvature > ConstantCurvaturePtr_t
Definition: fwd.hh:32
Configuration_t end() const
Get the final configuration.
Definition: constant-curvature.hh:84
void init(const PathWkPtr_t &self)
Definition: constant-curvature.hh:91
JointPtr_t j
Definition: constant-curvature.hh:93
Path of constant curvature for a carlike robot.
Definition: constant-curvature.hh:30
void init(const ConstantCurvatureWkPtr_t &weak)
store weak pointer to itself
Definition: constant-curvature.hh:166
virtual PathPtr_t copy() const
Return a shared pointer to a copy of this.
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::value_type value_type
Definition: fwd.hh:157
Configuration_t initial() const
Get the initial configuration.
Definition: constant-curvature.hh:78
static ConstantCurvaturePtr_t create(const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type curveLength, value_type pathLength, value_type curvature, size_type xyId, size_type rzId, const JointPtr_t rz, const std::vector< JointPtr_t > wheels, const ConstraintSetPtr_t &constraints)
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
virtual ~ConstantCurvature()
Definition: constant-curvature.hh:33
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
virtual void impl_derivative(vectorOut_t result, const value_type ¶m, size_type order) const
Virtual implementation of derivative.
virtual PathPtr_t reverse() const
virtual PathPtr_t impl_extract(const interval_t ¶mInterval) const
Virtual implementation of path extraction.
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170