hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
20 #define HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
44 KinodynamicOrientedPath* ptr =
new KinodynamicOrientedPath (device, init, end, length,a1,t0,t1,tv,t2,vLim,ignoreZValue);
62 KinodynamicOrientedPath* ptr =
new KinodynamicOrientedPath (device, init, end, length,a1,t0,t1,tv,t2,vLim,
63 constraints,ignoreZValue);
109 return createCopy (weak_.lock ());
118 return createCopy (weak_.lock (), constraints);
126 virtual std::ostream&
print (std::ostream &os)
const
128 os <<
"KinodynamicOrientedPath:" << std::endl;
129 os <<
"interval: [ " << timeRange ().first <<
", "
130 << timeRange ().second <<
" ]" << std::endl;
131 os <<
"initial configuration: " << pinocchio::displayConfig(initial_ )<< std::endl;
132 os <<
"final configuration: " << pinocchio::displayConfig(end_) << std::endl;
136 void orienteInitAndGoal(
const DevicePtr_t& device);
160 parent_t::init (
self);
171 KinodynamicOrientedPathWkPtr_t weak_;
177 #endif // HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
bool ignoreZValue() const
Definition: kinodynamic-oriented-path.hh:121
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
KinodynamicPath parent_t
Definition: kinodynamic-oriented-path.hh:32
static KinodynamicOrientedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, bool ignoreZValue=false)
Definition: kinodynamic-oriented-path.hh:39
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
void ignoreZValue(bool ignoreZValue)
Definition: kinodynamic-oriented-path.hh:122
Definition: kinodynamic-path.hh:45
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
virtual ~KinodynamicOrientedPath()
Definition: kinodynamic-oriented-path.hh:33
boost::shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:190
Definition: basic-configuration-shooter.hh:26
virtual void checkPath() const
Should be called by child classes after having init.
void init(KinodynamicOrientedPathPtr_t self)
Definition: kinodynamic-oriented-path.hh:158
static KinodynamicOrientedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints, bool ignoreZValue=false)
Definition: kinodynamic-oriented-path.hh:56
boost::shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:188
static KinodynamicOrientedPathPtr_t createCopy(const KinodynamicOrientedPathPtr_t &path)
Definition: kinodynamic-oriented-path.hh:72
virtual PathPtr_t copy() const
Definition: kinodynamic-oriented-path.hh:107
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
Definition: kinodynamic-oriented-path.hh:29
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: kinodynamic-oriented-path.hh:116
static KinodynamicOrientedPathPtr_t create(const KinodynamicPathPtr_t &path, bool ignoreZValue=false)
Definition: kinodynamic-oriented-path.hh:81
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: kinodynamic-oriented-path.hh:126
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