hpp-core
4.11.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_RELATIVE_MOTION_HH
20 #define HPP_CORE_RELATIVE_MOTION_HH
24 #include <hpp/pinocchio/fwd.hh>
26 #include <hpp/pinocchio/joint.hh>
51 typedef Eigen::Matrix<RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic>
matrix_type;
97 return (joint ? joint->index() : 0);
104 template<>
struct NumTraits<
hpp::core::RelativeMotion::RelativeMotionType>
108 #endif // HPP_CORE_RELATIVE_MOTION_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
Definition: relative-motion.hh:103
@ Constrained
Definition: relative-motion.hh:34
@ Unconstrained
The relative motion is not constrained.
Definition: relative-motion.hh:39
static size_type idx(const JointConstPtr_t &joint)
Definition: relative-motion.hh:95
Definition: relative-motion.hh:30
Definition: bi-rrt-planner.hh:24
@ Parameterized
Definition: relative-motion.hh:37
static void recurseSetRelMotion(matrix_type &matrix, const size_type &i1, const size_type &i2, const RelativeMotionType &type)
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
Eigen::Matrix< RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic > matrix_type
Definition: relative-motion.hh:51
static matrix_type matrix(const DevicePtr_t &robot)
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:132
static void fromConstraint(matrix_type &matrix, const DevicePtr_t &robot, const ConstraintSetPtr_t &constraint)
RelativeMotionType
Definition: relative-motion.hh:31