hpp-core
4.11.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH
20 # define HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH
22 # include <hpp/util/debug.hh>
23 # include <hpp/util/pointer.hh>
31 namespace steeringMethod {
63 std::vector <JointPtr_t> wheels = std::vector<JointPtr_t>())
66 xyJoint, rzJoint, wheels);
85 return createCopy (weak_.lock ());
100 std::vector <JointPtr_t> wheels);
106 void init (ReedsSheppWkPtr_t weak)
114 ReedsSheppWkPtr_t weak_;
134 #endif // HPP_CORE_STEERING_METHOD_REEDS_SHEPP_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
void init(ReedsSheppWkPtr_t weak)
Store weak pointer to itself.
Definition: reeds-shepp.hh:106
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: reeds-shepp.hh:83
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
void init(CarLikeWkPtr_t weak)
Store weak pointer to itself.
Definition: car-like.hh:69
static ReedsSheppPtr_t create(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels=std::vector< JointPtr_t >())
Definition: reeds-shepp.hh:60
PathVectorPtr_t reedsSheppPathOrDistance(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type extraLength, value_type rho, size_type xyId, size_type rzId, const std::vector< JointPtr_t > wheels, ConstraintSetPtr_t constraints, bool computeDistance, value_type &distance)
Definition: bi-rrt-planner.hh:24
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:323
Definition: reeds-shepp.hh:37
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
Definition: car-like.hh:39
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:208
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64