hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
random-shortcut.hh
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//
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// Copyright (c) 2014 CNRS
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// Authors: Florent Lamiraux
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//
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// This file is part of hpp-core
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// hpp-core is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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//
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// hpp-core is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// hpp-core If not, see
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// <http://www.gnu.org/licenses/>.
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#ifndef HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
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# define HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
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# include <
hpp/core/path-optimizer.hh
>
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namespace
hpp
{
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namespace
core {
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namespace
pathOptimization {
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class
HPP_CORE_DLLAPI
RandomShortcut
:
public
PathOptimizer
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{
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public
:
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static
RandomShortcutPtr_t
create (
const
Problem
& problem);
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virtual
PathVectorPtr_t
optimize (
const
PathVectorPtr_t
& path);
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protected
:
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RandomShortcut
(
const
Problem
& problem);
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virtual
bool
shootTimes (
const
PathVectorPtr_t
& currentOpt,
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const
value_type
& t0,
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value_type
& t1,
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value_type
& t2,
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const
value_type
& t3);
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};
// class RandomShortcut
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}
// namespace pathOptimization
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
hpp::core::pathOptimization::RandomShortcut
Definition:
random-shortcut.hh:38
path-optimizer.hh
hpp
Definition:
basic-configuration-shooter.hh:26
hpp::core::PathOptimizer
Definition:
path-optimizer.hh:34
hpp::core::value_type
pinocchio::value_type value_type
Definition:
fwd.hh:157
hpp::core::PathVectorPtr_t
boost::shared_ptr< PathVector > PathVectorPtr_t
Definition:
fwd.hh:176
hpp::core::Problem
Definition:
problem.hh:48
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
hpp::core::pathOptimization::RandomShortcutPtr_t
boost::shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition:
fwd.hh:265
include
hpp
core
path-optimization
random-shortcut.hh
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