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virtual | ~TimedParabolaPath () throw () |
| Destructor. More...
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virtual core::PathPtr_t | copy () const |
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virtual core::PathPtr_t | copy (const core::ConstraintSetPtr_t &constraints) const |
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virtual core::PathPtr_t | extract (const core::interval_t &subInterval) const throw (core::projection_error) |
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virtual core::PathPtr_t | reverse () const |
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void | initialConfig (core::ConfigurationIn_t initial) |
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void | endConfig (core::ConfigurationIn_t end) |
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core::DevicePtr_t | device () const |
| Return the internal robot. More...
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core::Configuration_t | initial () const |
| Get the initial configuration. More...
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core::Configuration_t | end () const |
| Get the final configuration. More...
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virtual core::value_type | length () const |
| Get previously computed length. More...
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virtual | ~ParabolaPath () throw () |
| Destructor. More...
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void | initialConfig (core::ConfigurationIn_t initial) |
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void | endConfig (core::ConfigurationIn_t end) |
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core::DevicePtr_t | device () const |
| Return the internal robot. More...
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core::Configuration_t | initial () const |
| Get the initial configuration. More...
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core::Configuration_t | end () const |
| Get the final configuration. More...
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void | coefficients (core::vector_t coefs) const |
| Set the three parabola coefficients. More...
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core::vector_t | coefficients () const |
| Get path coefficients. More...
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virtual core::value_type | computeLength (const core::ConfigurationIn_t q1, const core::ConfigurationIn_t q2) const |
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core::vector_t | evaluateVelocity (const core::value_type t) const |
| Evaluate velocity vector at path abcissa t. More...
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static TimedParabolaPathPtr_t | create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, ParabolaPathPtr_t parabolaPath) |
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static TimedParabolaPathPtr_t | create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients) |
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static TimedParabolaPathPtr_t | create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients, core::vector_t V0, core::vector_t Vimp, std::vector< std::string > initialROMnames, std::vector< std::string > endROMnames) |
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static TimedParabolaPathPtr_t | createCopy (const TimedParabolaPathPtr_t &path) |
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static TimedParabolaPathPtr_t | createCopy (const TimedParabolaPathPtr_t &path, const core::ConstraintSetPtr_t &) |
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static ParabolaPathPtr_t | create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients) |
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static ParabolaPathPtr_t | create (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients, core::vector_t V0, core::vector_t Vimp, std::vector< std::string > initialROMnames, std::vector< std::string > endROMnames) |
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static ParabolaPathPtr_t | createCopy (const ParabolaPathPtr_t &path) |
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static ParabolaPathPtr_t | createCopy (const ParabolaPathPtr_t &path, const core::ConstraintSetPtr_t &) |
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| TimedParabolaPath (const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, ParabolaPathPtr_t parabolaPath) |
| Constructor. More...
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| TimedParabolaPath (const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients) |
| Constructor. More...
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| TimedParabolaPath (const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefs, core::vector_t V0, core::vector_t Vimp, std::vector< std::string > initialROMnames, std::vector< std::string > endROMnames) |
| Constructor with velocities and ROMnames. More...
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| TimedParabolaPath (const TimedParabolaPath &path) |
| Copy constructor. More...
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void | init (TimedParabolaPathPtr_t self) |
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virtual bool | impl_compute (core::ConfigurationOut_t result, core::value_type t) const |
| Param is the time. More...
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virtual double | computeTimedLength (double x_theta, double v0, double alpha0) |
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virtual double | computeTimedLength (ParabolaPathPtr_t parabolaPath) |
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virtual std::ostream & | print (std::ostream &os) const |
| Print path in a stream. More...
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| ParabolaPath (const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients) |
| Constructor. More...
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| ParabolaPath (const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefs, core::vector_t V0_, core::vector_t Vimp, std::vector< std::string > initialROMnames, std::vector< std::string > endROMnames) |
| Constructor with velocities and ROMnames. More...
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| ParabolaPath (const ParabolaPath &path) |
| Copy constructor. More...
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core::value_type | lengthFunction (const core::value_type x) const |
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void | init (ParabolaPathPtr_t self) |
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ballistic path between 2 configurations
call parabola-path but work with the time as parameter instead of x_theta