hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
Path

Classes

class  hpp::rbprm::BezierPath
 

Typedefs

typedef Path hpp::rbprm::BezierPath::parent_t
 

Functions

virtual hpp::rbprm::BezierPath::~BezierPath ()
 Destructor. More...
 
static BezierPathPtr_t hpp::rbprm::BezierPath::create (const core::DevicePtr_t &device, const bezier_Ptr &curve, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange)
 
static BezierPathPtr_t hpp::rbprm::BezierPath::create (const core::DevicePtr_t &device, std::vector< bezier_t::point_t >::const_iterator wpBegin, std::vector< bezier_t::point_t >::const_iterator wpEnd, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange)
 
static BezierPathPtr_t hpp::rbprm::BezierPath::createCopy (const BezierPathPtr_t &path)
 
static BezierPathPtr_t hpp::rbprm::BezierPath::createCopy (const BezierPathPtr_t &path, const core::ConstraintSetPtr_t &constraints)
 
virtual core::PathPtr_t hpp::rbprm::BezierPath::copy () const
 
virtual core::PathPtr_t hpp::rbprm::BezierPath::copy (const core::ConstraintSetPtr_t &constraints) const
 
virtual core::Configuration_t hpp::rbprm::BezierPath::initial () const
 Get the initial configuration. More...
 
virtual core::Configuration_t hpp::rbprm::BezierPath::end () const
 Get the final configuration. More...
 
core::Configuration_t hpp::rbprm::BezierPath::operator() (const core::value_type &t) const
 
bezier_Ptr hpp::rbprm::BezierPath::getBezier ()
 
bezier_t::t_point_t hpp::rbprm::BezierPath::getWaypoints ()
 
virtual std::ostream & hpp::rbprm::BezierPath::print (std::ostream &os) const
 Print path in a stream. More...
 
 hpp::rbprm::BezierPath::BezierPath (const core::DevicePtr_t &robot, const bezier_Ptr &curve, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange)
 constructor with curve More...
 
 hpp::rbprm::BezierPath::BezierPath (const core::DevicePtr_t &robot, std::vector< bezier_t::point_t >::const_iterator wpBegin, std::vector< bezier_t::point_t >::const_iterator wpEnd, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange)
 constructor with waypoints More...
 
 hpp::rbprm::BezierPath::BezierPath (const BezierPath &path)
 Copy constructor. More...
 
 hpp::rbprm::BezierPath::BezierPath (const BezierPath &path, const core::ConstraintSetPtr_t &constraints)
 Copy constructor with constraints. More...
 
void hpp::rbprm::BezierPath::init (BezierPathPtr_t self)
 
void hpp::rbprm::BezierPath::initCopy (BezierPathPtr_t self)
 
virtual bool hpp::rbprm::BezierPath::impl_compute (core::ConfigurationOut_t result, core::value_type param) const
 

Detailed Description

Bezier curve representation between two configurations

This class only implement the bezier curve of dimension 3, need to template the dimension of the points Use the Bezier curve for the translation of the root and standard linear interpolation for the other DoF

Typedef Documentation

◆ parent_t

Function Documentation

◆ BezierPath() [1/4]

hpp::rbprm::BezierPath::BezierPath ( const core::DevicePtr_t &  robot,
const bezier_Ptr curve,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::interval_t  timeRange 
)
protected

constructor with curve

◆ BezierPath() [2/4]

hpp::rbprm::BezierPath::BezierPath ( const core::DevicePtr_t &  robot,
std::vector< bezier_t::point_t >::const_iterator  wpBegin,
std::vector< bezier_t::point_t >::const_iterator  wpEnd,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::interval_t  timeRange 
)
protected

constructor with waypoints

◆ BezierPath() [3/4]

hpp::rbprm::BezierPath::BezierPath ( const BezierPath path)
protected

Copy constructor.

◆ BezierPath() [4/4]

hpp::rbprm::BezierPath::BezierPath ( const BezierPath path,
const core::ConstraintSetPtr_t &  constraints 
)
protected

Copy constructor with constraints.

◆ copy() [1/2]

virtual core::PathPtr_t hpp::rbprm::BezierPath::copy ( ) const
inlinevirtual

Return a shared pointer to this

As BezierPath are immutable, and refered to by shared pointers, they do not need to be copied.

◆ copy() [2/2]

virtual core::PathPtr_t hpp::rbprm::BezierPath::copy ( const core::ConstraintSetPtr_t &  constraints) const
inlinevirtual

Return a shared pointer to a copy of this and set constraints

Parameters
constraintsconstraints to apply to the copy *this should not have constraints.

◆ create() [1/2]

static BezierPathPtr_t hpp::rbprm::BezierPath::create ( const core::DevicePtr_t &  device,
const bezier_Ptr curve,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::interval_t  timeRange 
)
inlinestatic

Create instance and return shared pointer

Parameters
deviceRobot corresponding to configurations
curvethe curve that define this path
timeRange: the time definition of the curve.

◆ create() [2/2]

static BezierPathPtr_t hpp::rbprm::BezierPath::create ( const core::DevicePtr_t &  device,
std::vector< bezier_t::point_t >::const_iterator  wpBegin,
std::vector< bezier_t::point_t >::const_iterator  wpEnd,
core::ConfigurationIn_t  init,
core::ConfigurationIn_t  end,
core::interval_t  timeRange 
)
inlinestatic

Create instance and return shared pointer

Parameters
deviceRobot corresponding to configurations
wpBeginiterator to the first waypoint
wpEnditerator to the last wp
lengthDistance between the configurations.

◆ createCopy() [1/2]

static BezierPathPtr_t hpp::rbprm::BezierPath::createCopy ( const BezierPathPtr_t path)
inlinestatic

Create copy and return shared pointer

Parameters
pathpath to copy

◆ createCopy() [2/2]

static BezierPathPtr_t hpp::rbprm::BezierPath::createCopy ( const BezierPathPtr_t path,
const core::ConstraintSetPtr_t &  constraints 
)
inlinestatic

Create copy and return shared pointer

Parameters
pathpath to copy
constraintsthe path is subject to

◆ end()

virtual core::Configuration_t hpp::rbprm::BezierPath::end ( ) const
virtual

Get the final configuration.

◆ getBezier()

bezier_Ptr hpp::rbprm::BezierPath::getBezier ( )
inline

◆ getWaypoints()

bezier_t::t_point_t hpp::rbprm::BezierPath::getWaypoints ( )
inline

◆ impl_compute()

virtual bool hpp::rbprm::BezierPath::impl_compute ( core::ConfigurationOut_t  result,
core::value_type  param 
) const
protectedvirtual

◆ init()

void hpp::rbprm::BezierPath::init ( BezierPathPtr_t  self)
inlineprotected

◆ initCopy()

void hpp::rbprm::BezierPath::initCopy ( BezierPathPtr_t  self)
inlineprotected

◆ initial()

virtual core::Configuration_t hpp::rbprm::BezierPath::initial ( ) const
virtual

Get the initial configuration.

◆ operator()()

core::Configuration_t hpp::rbprm::BezierPath::operator() ( const core::value_type &  t) const
inline

◆ print()

virtual std::ostream& hpp::rbprm::BezierPath::print ( std::ostream &  os) const
inlineprotectedvirtual

Print path in a stream.

◆ ~BezierPath()

virtual hpp::rbprm::BezierPath::~BezierPath ( )
inlinevirtual

Destructor.