hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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18 #ifndef HPP_CORE_STEERING_METHOD_HERMITE_HH
19 # define HPP_CORE_STEERING_METHOD_HERMITE_HH
30 namespace steeringMethod {
60 return createCopy (weak_.lock ());
68 (problem_.robot(), q1, q2, constraints ());
70 path->computeHermiteLength();
86 void init (HermiteWkPtr_t weak)
99 #endif // HPP_CORE_STEERING_METHOD_HERMITE_HH
Definition: hermite.hh:36
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: hermite.hh:58
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
static HermitePtr_t create(const Problem &problem)
Create instance and return shared pointer.
Definition: hermite.hh:40
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:114
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
create a path between two configurations
Definition: hermite.hh:64
Hermite(const Hermite &other)
Copy constructor.
Definition: hermite.hh:81
Definition: basic-configuration-shooter.hh:26
boost::shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:194
Hermite(const Problem &problem)
Constructor with weighed distance.
Definition: hermite.hh:76
static HermitePtr_t createCopy(const HermitePtr_t &other)
Copy instance and return shared pointer.
Definition: hermite.hh:49
Definition: steering-method.hh:38
static HermitePtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
Definition: hermite.hh:39
boost::shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:41
Definition: problem.hh:48
#define HPP_CORE_DLLAPI
Definition: config.hh:64
void init(HermiteWkPtr_t weak)
Store weak pointer to itself.
Definition: hermite.hh:86
boost::shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:226
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170