hpp-core
4.11.0
Implement basic classes for canonical path planning for kinematic chains.
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18 #ifndef HPP_CORE_PATH_HERMITE_HH
19 # define HPP_CORE_PATH_HERMITE_HH
78 return createCopy (weak_.lock ());
87 return createCopy (weak_.lock (), constraints);
95 parameters_.row(1) = parameters_.row(0) + speed.transpose() / 3;
101 parameters_.row(2) = parameters_.row(3) - speed.transpose() / 3;
107 return 3 * (parameters_.row(1) - parameters_.row(0));
116 return 3 * (parameters_.row(3) - parameters_.row(2));
131 return hermiteLength_;
134 void computeHermiteLength ();
140 virtual std::ostream&
print (std::ostream &os)
const
142 os <<
"Hermite:" << std::endl;
144 os <<
"initial configuration: " << initial().transpose () << std::endl;
145 os <<
"final configuration: " << end().transpose () << std::endl;
174 HermiteWkPtr_t weak_;
180 #endif // HPP_CORE_PATH_HERMITE_HH
virtual PathPtr_t copy() const
Definition: hermite.hh:76
Definition: hermite.hh:31
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
virtual Configuration_t initial() const
Definition: hermite.hh:119
virtual ~Hermite()
Destructor.
Definition: hermite.hh:37
pinocchio::vector_t vector_t
Definition: fwd.hh:202
static HermitePtr_t createCopy(const HermitePtr_t &path)
Definition: hermite.hh:52
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
void init(HermitePtr_t self)
Spline< BernsteinBasis, 3 > parent_t
Definition: hermite.hh:34
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
virtual std::ostream & print(std::ostream &os) const
vector_t v0() const
Definition: hermite.hh:105
const value_type & hermiteLength() const
Definition: hermite.hh:129
Definition: bi-rrt-planner.hh:24
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: hermite.hh:85
void v1(const vectorIn_t &speed)
Definition: hermite.hh:99
static HermitePtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
Definition: hermite.hh:39
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:227
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
vector_t v1() const
Definition: hermite.hh:114
void v0(const vectorIn_t &speed)
Definition: hermite.hh:93
virtual Configuration_t end() const
Definition: hermite.hh:124
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: hermite.hh:140
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64