18 #ifndef HPP_CORE_PATHPROJECTOR_GLOBAL_HH
19 # define HPP_CORE_PATHPROJECTOR_GLOBAL_HH
22 # include <hpp/constraints/solver/hierarchical-iterative.hh>
29 namespace pathProjector {
60 typedef constraints::solver::lineSearch::FixedSequence LineSearch_t;
71 Eigen::aligned_allocator <Configuration_t> > Configs_t;
72 typedef std::list <value_type> Lengths_t;
73 typedef std::list <LineSearch_t> Alphas_t;
74 typedef std::vector <bool> Bools_t;
75 typedef std::list<Data> Datas_t;
78 Configs_t& q, Configs_t::iterator& last,
79 Bools_t& b, Lengths_t& l, Alphas_t& alpha)
const;
82 Datas_t& ds,
const Datas_t::iterator& last)
const;
86 Configs_t& q,
const Configs_t::iterator& last,
87 Bools_t& b, Lengths_t& l, Alphas_t& alpha,
96 const Configs_t& q,
const Configs_t::iterator& last,
97 const Bools_t& b,
const Lengths_t& l,
102 const Datas_t& ds,
const Datas_t::iterator& last,
109 void initialConfigList (
const PathPtr_t& path,
110 Configs_t& cfgs)
const;
112 void initialConfigList (
const PathPtr_t& path,
117 bool projected =
false,
127 #endif // HPP_CORE_PATHPROJECTOR_GLOBAL_HH