20 #ifndef HPP_WHOLEBODY_STEP_SMALL_STEPS_HH 21 # define HPP_WHOLEBODY_STEP_SMALL_STEPS_HH 23 # include <hpp/core/path-optimizer.hh> 24 # include <hpp/walkgen/foot-print.hh> 29 namespace wholebodyStep {
75 active (false), optional (false), type (All), abscissa (-1) {}
84 void init (
const SmallStepsWkPtr_t& weak);
89 Times_t buildInitialTimes (
const std::size_t& p);
114 std::vector <value_type> stepParameters_;
115 FootPrints_t footPrints_;
116 std::vector <bool> footPrintsIsRight_;
117 SmallStepsWkPtr_t weakPtr_;
121 #endif // HPP_WHOLEBODY_STEP_SMALL_STEPS_HH Definition: small-steps.hh:68
Pairs_t pairs_
Definition: small-steps.hh:50
SmallSteps::TimeToParameterMap_t Pairs_t
Definition: small-steps.hh:44
pinocchio::HumanoidRobotPtr_t HumanoidRobotPtr_t
Definition: fwd.hh:62
walkgen::Times_t Times_t
Definition: small-steps.hh:38
walkgen::FootPrints_t FootPrints_t
Definition: small-steps.hh:37
walkgen::FootPrint FootPrint
Definition: fwd.hh:79
std::map< value_type, value_type > TimeToParameterMap_t
Definition: small-steps.hh:39
core::value_type value_type
Definition: fwd.hh:76
bool optional
Definition: small-steps.hh:70
Definition: small-steps.hh:65
HandConstraint rightHand_
Definition: small-steps.hh:78
HandConstraintType
Definition: small-steps.hh:63
core::PathPtr_t PathPtr_t
Definition: fwd.hh:52
walkgen::SplineBasedPtr_t SplineBasedPtr_t
Definition: fwd.hh:80
Definition: small-steps.hh:64
bool active
Definition: small-steps.hh:69
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:33
core::PathVectorPtr_t PathVectorPtr_t
Definition: fwd.hh:54
value_type abscissa
Definition: small-steps.hh:72
Compute parameter along initial path with respect to time.
Definition: small-steps.hh:42
walkgen::CubicBSplinePtr_t CubicBSplinePtr_t
Definition: fwd.hh:82
#define HPP_WHOLEBODY_STEP_DLLAPI
Definition: config.hh:64
std::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:85
Definition: small-steps.hh:34
core::ProblemConstPtr_t ProblemConstPtr_t
Definition: fwd.hh:48
HandConstraintType type
Definition: small-steps.hh:71
HandConstraint()
Definition: small-steps.hh:74