hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_PATH_VECTOR_HH
20 # define HPP_CORE_PATH_VECTOR_HH
22 # include <hpp/pinocchio/device.hh>
71 return createCopy (weak_.lock ());
79 return createCopy (weak_.lock (), constraints);
91 return paths_.size ();
100 PathPtr_t pathAtRank (std::size_t rank)
const;
126 return paths_.front ()->initial ();
132 return paths_.back()->end ();
141 virtual std::ostream& print (std::ostream &os)
const;
143 PathVector (std::size_t outputSize, std::size_t outputDerivativeSize) :
144 parent_t (std::make_pair (0, 0), outputSize, outputDerivativeSize),
152 assert (timeRange() == path.
timeRange());
153 for (Paths_t::const_iterator it = path.paths_.begin ();
154 it != path.paths_.end (); it++) {
155 paths_.push_back ((*it)->copy ());
162 parent_t (path, constraints), paths_ ()
164 assert (timeRange() == path.
timeRange());
165 for (Paths_t::const_iterator it = path.paths_.begin ();
166 it != path.paths_.end (); it++) {
167 paths_.push_back ((*it)->copy ());
173 parent_t::init (
self);
186 PathVectorWkPtr_t weak_;
196 #endif // HPP_CORE_PATH_VECTOR_HH
void init(PathVectorPtr_t self)
Definition: path-vector.hh:171
pinocchio::size_type size_type
Definition: fwd.hh:156
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
Concatenation of several paths.
Definition: path-vector.hh:32
const interval_t & timeRange() const
Get interval of definition.
Definition: path.hh:210
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: path-vector.hh:77
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:203
PathVector(std::size_t outputSize, std::size_t outputDerivativeSize)
Constructor.
Definition: path-vector.hh:143
std::size_t numberPaths() const
Get the number of sub paths.
Definition: path-vector.hh:89
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
constraints::Implicit NumericalConstraint HPP_CORE_DEPRECATED
Definition: fwd.hh:347
static PathVectorPtr_t createCopy(const PathVectorPtr_t &original, const ConstraintSetPtr_t &constraints)
Create instance and return shared pointer.
Definition: path-vector.hh:59
Definition: basic-configuration-shooter.hh:26
PathVector(const PathVector &path)
Copy constructor.
Definition: path-vector.hh:149
virtual PathPtr_t copy() const
Return a shared pointer to a copy of this.
Definition: path-vector.hh:69
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:195
static PathVectorPtr_t create(size_type outputSize, size_type outputDerivativeSize)
Create instance and return shared pointer.
Definition: path-vector.hh:40
PathVector(const PathVector &path, const ConstraintSetPtr_t &constraints)
Copy constructor with constraints.
Definition: path-vector.hh:160
Path parent_t
Definition: path-vector.hh:35
virtual ~PathVector()
Destructor.
Definition: path-vector.hh:83
virtual Configuration_t initial() const
Get the initial configuration.
Definition: path-vector.hh:124
static PathVectorPtr_t createCopy(const PathVectorPtr_t &original)
Create instance and return shared pointer.
Definition: path-vector.hh:50
virtual Configuration_t end() const
Get the final configuration.
Definition: path-vector.hh:130
pinocchio::value_type value_type
Definition: fwd.hh:157
boost::shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
#define HPP_CORE_DLLAPI
Definition: config.hh:64
PathVector()
Definition: path-vector.hh:189
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170