30 #ifndef HPP_CORE_PATHPROJECTOR_GLOBAL_HH 31 #define HPP_CORE_PATHPROJECTOR_GLOBAL_HH 34 #include <hpp/constraints/solver/hierarchical-iterative.hh> 40 namespace pathProjector {
71 typedef constraints::solver::lineSearch::FixedSequence LineSearch_t;
81 typedef std::list<Configuration_t, Eigen::aligned_allocator<Configuration_t> >
83 typedef std::list<value_type> Lengths_t;
84 typedef std::list<LineSearch_t> Alphas_t;
85 typedef std::vector<bool> Bools_t;
86 typedef std::list<Data> Datas_t;
89 Configs_t::iterator& last, Bools_t& b, Lengths_t& l,
90 Alphas_t& alpha)
const;
93 const Datas_t::iterator& last)
const;
97 const Configs_t::iterator& last, Bools_t& b,
98 Lengths_t& l, Alphas_t& alpha,
103 Datas_t& q, Datas_t::iterator& last)
const;
107 const Configs_t::iterator& last,
const Bools_t& b,
108 const Lengths_t& l,
PathPtr_t& result)
const;
112 const Datas_t::iterator& last,
PathPtr_t& result)
const;
118 void initialConfigList(
const PathPtr_t& path, Configs_t& cfgs)
const;
121 Datas_t& cfgs)
const;
124 bool computeSigma =
false,
bool projected =
false,
134 #endif // HPP_CORE_PATHPROJECTOR_GLOBAL_HH hpp::core::PathPtr_t PathPtr_t
Definition: path-projector.hh:41
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:315
hpp::core::StraightPath StraightPath
Definition: global.hh:43
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:123
Definition: bi-rrt-planner.hh:35
pinocchio::size_type size_type
Definition: fwd.hh:162
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:186
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:189
This class projects a path using constraints.
Definition: path-projector.hh:38
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:130
Definition: config-projector.hh:66
hpp::core::StraightPathPtr_t StraightPathPtr_t
Definition: global.hh:44
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:119
pinocchio::vector_t vector_t
Definition: fwd.hh:209
pinocchio::value_type value_type
Definition: fwd.hh:163
Definition: straight-path.hh:52
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:202
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105