hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_REEDS_SHEPP_PATH_HH
20 # define HPP_CORE_REEDS_SHEPP_PATH_HH
22 # include <hpp/pinocchio/device.hh>
65 const std::vector<JointPtr_t> wheels);
79 const std::vector<JointPtr_t> wheels,
107 return createCopy (weak_.lock ());
116 return createCopy (weak_.lock (), constraints);
139 virtual std::ostream& print (std::ostream &os)
const;
145 const std::vector<JointPtr_t> wheels);
151 const std::vector<JointPtr_t> wheels,
168 typedef Eigen::Matrix<value_type, 5, 1> Lengths_t;
172 const std::vector<JointPtr_t> wheels);
174 void setupPath (
const std::size_t& typeId,
double t,
double u=0.,
175 double v=0.,
double w=0.,
double x=0.);
198 ReedsSheppPathWkPtr_t weak_;
203 #endif // HPP_CORE_REEDS_SHEPP_PATH_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: reeds-shepp-path.hh:114
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:200
Concatenation of several paths.
Definition: path-vector.hh:32
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
DevicePtr_t device() const
Return the internal robot.
Definition: reeds-shepp-path.hh:120
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:203
boost::shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:184
Configuration_t end() const
Get the final configuration.
Definition: reeds-shepp-path.hh:132
void init(ReedsSheppPathPtr_t self)
virtual ~ReedsSheppPath()
Destructor.
Definition: reeds-shepp-path.hh:52
Definition: basic-configuration-shooter.hh:26
virtual PathPtr_t copy() const
Return a shared pointer to a copy of this object.
Definition: reeds-shepp-path.hh:105
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
core::PathVector parent_t
Definition: reeds-shepp-path.hh:49
Configuration_t initial() const
Get the initial configuration.
Definition: reeds-shepp-path.hh:126
Definition: reeds-shepp-path.hh:46
static ReedsSheppPathPtr_t createCopy(const ReedsSheppPathPtr_t &path)
Definition: reeds-shepp-path.hh:84
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170