Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
hpp::core::StraightPath Class Reference

Linear interpolation between two configurations. More...

#include <hpp/core/straight-path.hh>

Inheritance diagram for hpp::core::StraightPath:
[legend]
Collaboration diagram for hpp::core::StraightPath:
[legend]

Public Types

typedef Path parent_t
 

Public Member Functions

virtual ~StraightPath () throw ()
 Destructor. More...
 
virtual PathPtr_t copy () const
 Return a shared pointer to this. More...
 
virtual PathPtr_t copy (const ConstraintSetPtr_t &constraints) const
 Return a shared pointer to a copy of this and set constraints. More...
 
void initialConfig (ConfigurationIn_t initial)
 Modify initial configuration. More...
 
void endConfig (ConfigurationIn_t end)
 Modify end configuration. More...
 
DevicePtr_t device () const
 Return the internal robot. More...
 
Configuration_t initial () const
 Get the initial configuration. More...
 
Configuration_t end () const
 Get the final configuration. More...
 
- Public Member Functions inherited from hpp::core::Path
virtual ~Path () throw ()
 Destructor. More...
 
template<class T >
boost::shared_ptr< T > as (void)
 Static cast into a derived type. More...
 
template<class T >
boost::shared_ptr< const T > as (void) const
 Static cast into a derived type. More...
 
PathPtr_t extract (const interval_t &subInterval) const throw (projection_error)
 
virtual PathPtr_t reverse () const
 Reversion of a path. More...
 
Configuration_t operator() (const value_type &time) const HPP_CORE_DEPRECATED
 
Configuration_t operator() (const value_type &time, bool &success) const
 
bool operator() (ConfigurationOut_t result, const value_type &time) const throw ()
 
bool at (const value_type &time, ConfigurationOut_t result) const
 Get the configuration at a parameter without applying the constraints. More...
 
void derivative (vectorOut_t result, const value_type &time, size_type order) const
 Get derivative with respect to parameter at given parameter. More...
 
void velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
 Get an upper bound of the velocity on a sub-interval. More...
 
size_type outputSize () const
 Get size of configuration space. More...
 
size_type outputDerivativeSize () const
 Get size of velocity. More...
 
const interval_ttimeRange () const
 Get interval of definition. More...
 
value_type length () const
 Get length of definition interval. More...
 
const ConstraintSetPtr_tconstraints () const
 Get constraints the path is subject to. More...
 
const interval_tparamRange () const
 Get interval of parameters. More...
 
void timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
 Set the time parameterization function. More...
 

Static Public Member Functions

static StraightPathPtr_t create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
 Create instance and return shared pointer. More...
 
static StraightPathPtr_t create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
 Create instance and return shared pointer. More...
 
static StraightPathPtr_t createCopy (const StraightPathPtr_t &path)
 Create copy and return shared pointer. More...
 
static StraightPathPtr_t createCopy (const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints)
 Create copy and return shared pointer. More...
 

Protected Member Functions

virtual std::ostream & print (std::ostream &os) const
 Print path in a stream. More...
 
 StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
 Constructor. More...
 
 StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
 Constructor with constraints. More...
 
 StraightPath (const StraightPath &path)
 Copy constructor. More...
 
 StraightPath (const StraightPath &path, const ConstraintSetPtr_t &constraints)
 Copy constructor with constraints. More...
 
void init (StraightPathPtr_t self)
 
virtual bool impl_compute (ConfigurationOut_t result, value_type param) const
 Function evaluation without applying constraints. More...
 
virtual void impl_derivative (vectorOut_t result, const value_type &t, size_type order) const
 Virtual implementation of derivative. More...
 
virtual void impl_velocityBound (vectorOut_t result, const value_type &, const value_type &) const
 Virtual implementation of velocityBound. More...
 
PathPtr_t impl_extract (const interval_t &subInterval) const throw (projection_error)
 Extraction/Reversion of a sub-path. More...
 
- Protected Member Functions inherited from hpp::core::Path
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
 Constructor. More...
 
 Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
 Constructor. More...
 
 Path (const Path &path)
 Copy constructor. More...
 
 Path (const Path &path, const ConstraintSetPtr_t &constraints)
 Copy constructor with constraints. More...
 
void init (const PathWkPtr_t &self)
 Store weak pointer to itself. More...
 
void constraints (const ConstraintSetPtr_t &constraint)
 Set the constraints. More...
 
virtual void checkPath () const
 Should be called by child classes after having init. More...
 
void timeRange (const interval_t &timeRange)
 
const TimeParameterizationPtr_ttimeParameterization () const
 
value_type paramLength () const
 
Configuration_t configAtParam (const value_type &param, bool &success) const
 

Additional Inherited Members

- Protected Attributes inherited from hpp::core::Path
interval_t paramRange_
 Interval of parameters. More...
 

Detailed Description

Linear interpolation between two configurations.

Degrees of freedom are interpolated depending on the type of joint they parameterize:

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~StraightPath()

virtual hpp::core::StraightPath::~StraightPath ( )
throw (
)
inlinevirtual

Destructor.

◆ StraightPath() [1/4]

hpp::core::StraightPath::StraightPath ( const DevicePtr_t robot,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  length 
)
protected

Constructor.

◆ StraightPath() [2/4]

hpp::core::StraightPath::StraightPath ( const DevicePtr_t robot,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  length,
ConstraintSetPtr_t  constraints 
)
protected

Constructor with constraints.

◆ StraightPath() [3/4]

hpp::core::StraightPath::StraightPath ( const StraightPath path)
protected

Copy constructor.

◆ StraightPath() [4/4]

hpp::core::StraightPath::StraightPath ( const StraightPath path,
const ConstraintSetPtr_t constraints 
)
protected

Copy constructor with constraints.

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::StraightPath::copy ( ) const
inlinevirtual

Return a shared pointer to this.

As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.

Implements hpp::core::Path.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::StraightPath::copy ( const ConstraintSetPtr_t constraints) const
inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters
constraintsconstraints to apply to the copy *this should not have constraints.

Implements hpp::core::Path.

◆ create() [1/2]

static StraightPathPtr_t hpp::core::StraightPath::create ( const DevicePtr_t device,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  length 
)
inlinestatic

Create instance and return shared pointer.

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
lengthDistance between the configurations.

References hpp::core::Path::checkPath(), and init().

Referenced by hpp::core::steeringMethod::Straight::impl_compute().

◆ create() [2/2]

static StraightPathPtr_t hpp::core::StraightPath::create ( const DevicePtr_t device,
ConfigurationIn_t  init,
ConfigurationIn_t  end,
value_type  length,
ConstraintSetPtr_t  constraints 
)
inlinestatic

Create instance and return shared pointer.

Parameters
deviceRobot corresponding to configurations
init,endStart and end configurations of the path
lengthDistance between the configurations.
constraintsthe path is subject to

References hpp::core::Path::checkPath(), and init().

◆ createCopy() [1/2]

static StraightPathPtr_t hpp::core::StraightPath::createCopy ( const StraightPathPtr_t path)
inlinestatic

Create copy and return shared pointer.

Parameters
pathpath to copy

References hpp::core::Path::checkPath(), and init().

◆ createCopy() [2/2]

static StraightPathPtr_t hpp::core::StraightPath::createCopy ( const StraightPathPtr_t path,
const ConstraintSetPtr_t constraints 
)
inlinestatic

Create copy and return shared pointer.

Parameters
pathpath to copy
constraintsthe path is subject to

References hpp::core::Path::checkPath(), and init().

◆ device()

DevicePtr_t hpp::core::StraightPath::device ( ) const

Return the internal robot.

◆ end()

Configuration_t hpp::core::StraightPath::end ( ) const
inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

◆ endConfig()

void hpp::core::StraightPath::endConfig ( ConfigurationIn_t  end)
inline

Modify end configuration.

Parameters
endnew end configuration
Precondition
input configuration should be of the same size as current end configuration

References assert().

◆ impl_compute()

virtual bool hpp::core::StraightPath::impl_compute ( ConfigurationOut_t  configuration,
value_type  param 
) const
protectedvirtual

Function evaluation without applying constraints.

Returns
true if everything went good.

Implements hpp::core::Path.

◆ impl_derivative()

virtual void hpp::core::StraightPath::impl_derivative ( vectorOut_t  result,
const value_type t,
size_type  order 
) const
protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

◆ impl_extract()

PathPtr_t hpp::core::StraightPath::impl_extract ( const interval_t subInterval) const
throw (projection_error
)
protectedvirtual

Extraction/Reversion of a sub-path.

Parameters
subIntervalinterval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed.

Reimplemented from hpp::core::Path.

◆ impl_velocityBound()

virtual void hpp::core::StraightPath::impl_velocityBound ( vectorOut_t  bound,
const value_type param0,
const value_type param1 
) const
protectedvirtual

Virtual implementation of velocityBound.

Parameters
param0,param1interval of parameter
Return values
bound

Reimplemented from hpp::core::Path.

◆ init()

void hpp::core::StraightPath::init ( StraightPathPtr_t  self)
inlineprotected

Referenced by create(), and createCopy().

◆ initial()

Configuration_t hpp::core::StraightPath::initial ( ) const
inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ initialConfig()

void hpp::core::StraightPath::initialConfig ( ConfigurationIn_t  initial)
inline

Modify initial configuration.

Parameters
initialnew initial configuration
Precondition
input configuration should be of the same size as current initial configuration

References assert().

◆ print()

virtual std::ostream& hpp::core::StraightPath::print ( std::ostream &  os) const
inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

References hpp::core::Path::print().