17 #ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH 18 #define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH 20 #include <hpp/core/steering-method.hh> 26 namespace manipulation {
29 namespace steeringMethod {
33 using core::PathPtr_t;
37 :
public core::SteeringMethod
42 static EndEffectorTrajectoryPtr_t create
54 static PathPtr_t makePiecewiseLinearTrajectory (
matrixIn_t points,
68 void trajectory (
const PathPtr_t& eeTraj,
bool se3Output);
105 eeTraj_ (other.eeTraj_),
106 timeRange_ (other.timeRange_),
107 constraint_ (other.constraint_)
116 interval_t timeRange_;
124 #endif // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:60
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:31
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vectorIn_t vectorIn_t
Definition: fwd.hh:86
Build StraightPath constrained by a varying right hand side constraint.
Definition: end-effector-trajectory.hh:36
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:99
core::matrixIn_t matrixIn_t
Definition: fwd.hh:124
HPP_PREDEF_CLASS(EndEffectorTrajectory)
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:115
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
core::interval_t interval_t
Definition: end-effector-trajectory.hh:40
core::SteeringMethodPtr_t copy() const
Definition: end-effector-trajectory.hh:85
const DifferentiableFunctionPtr_t & trajectory() const
Definition: end-effector-trajectory.hh:75
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:116
const interval_t & timeRange() const
Definition: end-effector-trajectory.hh:80
EndEffectorTrajectory(const EndEffectorTrajectory &other)
Definition: end-effector-trajectory.hh:103