19 #ifndef HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH 20 #define HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH 22 #include <hpp/core/path-optimizer.hh> 48 static OrientedPathOptimizerPtr_t
create(core::ProblemConstPtr_t problem);
51 virtual core::PathVectorPtr_t
optimize(
const core::PathVectorPtr_t& path);
56 std::vector<bool> orientedValid,
57 std::vector<core::KinodynamicOrientedPathPtr_t> orientedPaths,
58 std::vector<core::KinodynamicPathPtr_t> resultPaths);
60 core::PathPtr_t
steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2)
const;
65 double sizeFootX_, sizeFootY_;
66 bool rectangularContact_;
69 bool orientationIgnoreZValue_;
75 #endif // HPP_RBPRM_ORIENTED_PATH_OPTIMIZER_HH bool checkReplaceOrientation(const size_t index, const size_t lastIndex, std::vector< bool > replaceValid, std::vector< bool > orientedValid, std::vector< core::KinodynamicOrientedPathPtr_t > orientedPaths, std::vector< core::KinodynamicPathPtr_t > resultPaths)
std::shared_ptr< OrientedPathOptimizer > OrientedPathOptimizerPtr_t
Definition: oriented-path-optimizer.hh:43
OrientedPathOptimizer(core::ProblemConstPtr_t problem)
Definition: algorithm.hh:27
static OrientedPathOptimizerPtr_t create(core::ProblemConstPtr_t problem)
Return shared pointer to new object.
std::shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t &path)
Optimize path.
HPP_PREDEF_CLASS(RbPrmFullBody)
std::shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
Definition: oriented-path-optimizer.hh:45