19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH 20 #define HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH 25 #include <hpp/core/config-projector.hh> 26 #include <hpp/core/configuration-shooter.hh> 27 #include <hpp/core/path.hh> 28 #include <hpp/pinocchio/device.hh> 34 namespace interpolation {
52 static HPP_RBPRM_DLLAPI TimeConstraintShooterPtr_t create(
const core::DevicePtr_t device,
53 const hpp::core::PathPtr_t rootPath,
55 core::ConfigProjectorPtr_t projector,
66 TimeConstraintShooterWkPtr_t weak_;
75 core::ConfigProjectorPtr_t projector,
const rbprm::T_Limb freeLimbs);
77 void init(
const TimeConstraintShooterPtr_t&
self);
79 virtual void impl_shoot(core::Configuration_t& q)
const;
86 #endif // HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH const std::size_t configSize_
Definition: time-constraint-shooter.hh:61
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
std::map< std::string, const rbprm::RbPrmLimbPtr_t > T_Limb
Definition: rbprm-limb.hh:43
Definition: algorithm.hh:27
std::shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:36
const rbprm::T_Limb freeLimbs_
Definition: time-constraint-shooter.hh:63
Definition: time-constraint-shooter.hh:43
const core::DevicePtr_t device_
Definition: time-constraint-shooter.hh:62
T_TimeDependant tds_
Definition: time-constraint-shooter.hh:69
const hpp::core::PathPtr_t rootPath_
Definition: time-constraint-shooter.hh:59
const std::size_t pathDofRank_
Definition: time-constraint-shooter.hh:60
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:68
HPP_PREDEF_CLASS(ComTrajectory)
core::ConfigProjectorPtr_t projector_
Definition: time-constraint-shooter.hh:70