19 #ifndef HPP_WHOLEBODY_STEP_TIME_DEPENDANT_PATH_HH 20 # define HPP_WHOLEBODY_STEP_TIME_DEPENDANT_PATH_HH 22 # include <hpp/core/path.hh> 27 namespace wholebodyStep {
71 return path_->initial ();
79 return createCopy (*
this);
83 return createCopy (*
this, c);
95 if (constraints()) cp = constraints()->configProjector ();
96 for (TimeDependants_t::const_iterator it = tds_.begin ();
97 it != tds_.end (); ++it) {
99 ImplicitPtr_t nm = HPP_DYNAMIC_PTR_CAST(Implicit, it->eq_);
101 cp->rightHandSide(nm, nm->rightHandSide());
108 Path (path->timeRange (), path->outputSize (),
109 path->outputDerivativeSize ()),
110 path_ (path->copy ()), a_ (1), b_(0)
114 Path (path->timeRange (), path->outputSize (),
115 path->outputDerivativeSize ()),
116 path_ (path->copy ()), a_ (1), b_(0)
122 Path (other), path_ (other.path_->copy ()),
123 tds_ (other.tds_), a_ (other.a_), b_(other.b_)
127 Path (other), path_ (other.path_->copy ()),
128 a_ (other.a_), b_(other.b_)
136 return (*path_) (config, t);
144 virtual std::ostream&
print (std::ostream& os)
const {
145 return os <<
"TimeDependantPath: " << *path_;
149 typedef std::vector <TimeDependant> TimeDependants_t;
152 TimeDependants_t tds_;
157 #endif // HPP_WHOLEBODY_STEP_TIME_DEPENDANT_PATH_HH constraints::ImplicitPtr_t ImplicitPtr_t
Definition: static-stability-constraint.hh:31
void init(const TimeDependantPathPtr_t &self)
Definition: time-dependant-path.hh:139
core::Path Path
Definition: fwd.hh:51
static TimeDependantPathPtr_t create(const core::PathPtr_t path, const ConstraintSetPtr_t &c)
Definition: time-dependant-path.hh:40
core::PathPtr_t copy() const
Definition: time-dependant-path.hh:78
Definition: time-dependant.hh:35
constraints::Implicit Implicit
Definition: static-stability-constraint.hh:30
virtual bool impl_compute(ConfigurationOut_t config, value_type t) const
Definition: time-dependant-path.hh:133
core::value_type value_type
Definition: fwd.hh:76
static TimeDependantPathPtr_t createCopy(const TimeDependantPath &other)
Definition: time-dependant-path.hh:48
TimeDependantPath(const core::PathPtr_t path)
Definition: time-dependant-path.hh:107
void updateAbscissa(value_type t) const
Definition: time-dependant-path.hh:91
virtual std::ostream & print(std::ostream &os) const
Definition: time-dependant-path.hh:144
Configuration_t initial() const
Definition: time-dependant-path.hh:70
core::PathPtr_t PathPtr_t
Definition: fwd.hh:52
std::shared_ptr< TimeDependantPath > TimeDependantPathPtr_t
Definition: fwd.hh:87
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:35
TimeDependantPath(const core::PathPtr_t path, const ConstraintSetPtr_t &c)
Definition: time-dependant-path.hh:113
Configuration_t end() const
Definition: time-dependant-path.hh:74
virtual ~TimeDependantPath()
Definition: time-dependant-path.hh:68
Definition: time-dependant-path.hh:30
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:33
void add(const TimeDependant &td)
Definition: time-dependant-path.hh:63
core::PathPtr_t copy(const ConstraintSetPtr_t &c) const
Definition: time-dependant-path.hh:82
core::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:70
TimeDependantPath(const TimeDependantPath &other, const ConstraintSetPtr_t &c)
Definition: time-dependant-path.hh:126
core::Configuration_t Configuration_t
Definition: fwd.hh:68
#define HPP_WHOLEBODY_STEP_DLLAPI
Definition: config.hh:64
static TimeDependantPathPtr_t create(const core::PathPtr_t path)
Definition: time-dependant-path.hh:33
TimeDependantPath(const TimeDependantPath &other)
Definition: time-dependant-path.hh:121
static TimeDependantPathPtr_t createCopy(const TimeDependantPath &other, const ConstraintSetPtr_t &c)
Definition: time-dependant-path.hh:55
void setAffineTransform(const value_type &a, const value_type &b)
Definition: time-dependant-path.hh:86