hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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18 #ifndef HPP_CORE_KINODYNAMIC_PATH_HH
19 # define HPP_CORE_KINODYNAMIC_PATH_HH
24 # include <hpp/pinocchio/configuration.hh>
79 KinodynamicPath* ptr =
new KinodynamicPath (device, init, end, length,a1,t0,t1,tv,t2,vLim,
117 return createCopy (weak_.lock ());
126 return createCopy (weak_.lock (), constraints);
148 virtual std::ostream&
print (std::ostream &os)
const
150 os <<
"KinodynamicPath:" << std::endl;
151 os <<
"interval: [ " << timeRange ().first <<
", "
152 << timeRange ().second <<
" ]" << std::endl;
153 os <<
"initial configuration: " << pinocchio::displayConfig(initial_ )<< std::endl;
154 os <<
"final configuration: " << pinocchio::displayConfig(end_) << std::endl;
175 parent_t::init (
self);
186 return ((0. < val ) - (val < 0.));
189 inline int sgn(
double d)
const {
190 return d >= 0.0 ? 1 : -1;
193 inline double sgnf(
double d)
const {
194 return d >= 0.0 ? 1.0 : -1.0;
203 KinodynamicPathWkPtr_t weak_;
211 #endif // HPP_CORE_KINODYNAMIC_PATH_HH
double sgnf(double d) const
Definition: kinodynamic-path.hh:193
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
pinocchio::vector_t vector_t
Definition: fwd.hh:201
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
int sgn(double d) const
Definition: kinodynamic-path.hh:189
Definition: kinodynamic-path.hh:45
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
virtual ~KinodynamicPath()
Destructor.
Definition: kinodynamic-path.hh:50
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: kinodynamic-path.hh:124
vector_t getT2()
Definition: kinodynamic-path.hh:139
const DevicePtr_t & device() const
Definition: kinodynamic-path.hh:197
StraightPath parent_t
Definition: kinodynamic-path.hh:48
static KinodynamicPathPtr_t createCopy(const KinodynamicPathPtr_t &path)
Definition: kinodynamic-path.hh:89
vector_t getA1()
Definition: kinodynamic-path.hh:143
static KinodynamicPathPtr_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)
Definition: kinodynamic-path.hh:56
Definition: basic-configuration-shooter.hh:26
virtual void checkPath() const
Should be called by child classes after having init.
void init(KinodynamicPathPtr_t self)
Definition: kinodynamic-path.hh:173
Definition: straight-path.hh:42
static KinodynamicPathPtr_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)
Definition: kinodynamic-path.hh:73
boost::shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:188
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
vector_t getT1()
Definition: kinodynamic-path.hh:137
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: kinodynamic-path.hh:148
vector_t getTv()
Definition: kinodynamic-path.hh:141
double sgnenum(double val) const
Definition: kinodynamic-path.hh:185
vector_t getT0()
Definition: kinodynamic-path.hh:135
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64
virtual PathPtr_t copy() const
Definition: kinodynamic-path.hh:115
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170