hpp-core  4.10.1
Implement basic classes for canonical path planning for kinematic chains.
Steering method and distance functions

Some system are subject to kinematic or dynamic constraints. Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another. More...

Classes

class  hpp::core::distance::ReedsShepp
 
class  hpp::core::Distance
 Abstract class for distance between configurations. More...
 
class  hpp::core::KinodynamicDistance
 
class  hpp::core::steeringMethod::CarLike
 
class  hpp::core::steeringMethod::Dubins
 
class  hpp::core::steeringMethod::Hermite
 
class  hpp::core::steeringMethod::Interpolated
 
class  hpp::core::steeringMethod::ReedsShepp
 
class  hpp::core::steeringMethod::Snibud
 
class  hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >
 
class  hpp::core::steeringMethod::Kinodynamic
 
class  hpp::core::steeringMethod::Straight
 
class  hpp::core::SteeringMethod
 
class  hpp::core::WeighedDistance
 

Functions

static StraightPtr_t hpp::core::steeringMethod::Straight::create (const Problem &problem)
 Create instance and return shared pointer. More...
 
static StraightPtr_t hpp::core::steeringMethod::Straight::createCopy (const StraightPtr_t &other)
 Copy instance and return shared pointer. More...
 
virtual SteeringMethodPtr_t hpp::core::steeringMethod::Straight::copy () const
 Copy instance and return shared pointer. More...
 
virtual PathPtr_t hpp::core::steeringMethod::Straight::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 create a path between two configurations More...
 
 hpp::core::steeringMethod::Straight::Straight (const Problem &problem)
 
 hpp::core::steeringMethod::Straight::Straight (const Straight &other)
 Copy constructor. More...
 
void hpp::core::steeringMethod::Straight::init (StraightWkPtr_t weak)
 Store weak pointer to itself. More...
 

Detailed Description

Some system are subject to kinematic or dynamic constraints. Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another.

Function Documentation

◆ copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Straight::copy ( ) const
inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

◆ create()

static StraightPtr_t hpp::core::steeringMethod::Straight::create ( const Problem problem)
inlinestatic

Create instance and return shared pointer.

◆ createCopy()

static StraightPtr_t hpp::core::steeringMethod::Straight::createCopy ( const StraightPtr_t other)
inlinestatic

Copy instance and return shared pointer.

◆ impl_compute()

virtual PathPtr_t hpp::core::steeringMethod::Straight::impl_compute ( ConfigurationIn_t  q1,
ConfigurationIn_t  q2 
) const
virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

◆ init()

void hpp::core::steeringMethod::Straight::init ( StraightWkPtr_t  weak)
inlineprotected

Store weak pointer to itself.

◆ Straight() [1/2]

hpp::core::steeringMethod::Straight::Straight ( const Problem problem)
inlineprotected

Constructor with robot Weighed distance is created from robot

◆ Straight() [2/2]

hpp::core::steeringMethod::Straight::Straight ( const Straight other)
inlineprotected

Copy constructor.