hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_DOF_EXTRACTED_PATH_HH
20 # define HPP_CORE_DOF_EXTRACTED_PATH_HH
23 # include <hpp/constraints/matrix-view.hh>
88 bool success = (*original_) (q_, param);
111 qout = configView_.rview (qin);
116 virtual std::ostream&
print (std::ostream &os)
const
118 os <<
"Dof Extracted Path:" << std::endl;
119 os <<
"intervals: " << configView_ << std::endl;
120 os <<
"original path:" << std::endl;
121 os << *original_ << std::endl;
135 original_ (original), configView_ (confIntervals),
140 original_ (path.original_),
141 configView_ (path.configView_),
150 configView_ (path.configView_), weak_ ()
162 Eigen::RowBlockIndices configView_, velView_;
164 SubchainPathWkPtr_t weak_;
169 #endif // HPP_CORE_DOF_EXTRACTED_PATH_HH
static SubchainPathPtr_t createCopy(const SubchainPathPtr_t &path)
Definition: subchain-path.hh:67
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
Definition: relative-motion.hh:103
static SubchainPathPtr_t createCopy(const SubchainPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: subchain-path.hh:76
const interval_t & timeRange() const
Get interval of definition.
Definition: path.hh:208
SubchainPath(const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
Definition: subchain-path.hh:130
size_type outputSize() const
Get size of configuration space.
Definition: path.hh:196
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
Configuration_t initial() const
Get the initial configuration.
Definition: subchain-path.hh:94
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
virtual bool impl_compute(ConfigurationOut_t result, value_type param) const
Function evaluation without applying constraints.
Definition: subchain-path.hh:85
Path parent_t
Definition: subchain-path.hh:36
SubchainPath(const SubchainPath &path, const ConstraintSetPtr_t &constraints)
Definition: subchain-path.hh:147
virtual PathPtr_t copy() const
Return a shared pointer to a copy of this.
Definition: subchain-path.hh:41
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: subchain-path.hh:50
static SubchainPathPtr_t create(const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
Definition: subchain-path.hh:57
void init(const PathWkPtr_t &self)
void dofExtract(ConfigurationIn_t qin, ConfigurationOut_t qout) const
Definition: subchain-path.hh:109
Configuration_t end() const
Get the final configuration.
Definition: subchain-path.hh:102
Definition: bi-rrt-planner.hh:24
Definition: subchain-path.hh:33
void init(SubchainPathPtr_t self)
Definition: subchain-path.hh:154
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: subchain-path.hh:116
SubchainPath(const SubchainPath &path)
Definition: subchain-path.hh:139
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:129
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:160
virtual ~SubchainPath()
Definition: subchain-path.hh:38
constraints::segments_t segments_t
Definition: fwd.hh:162
const ConstraintSetPtr_t & constraints() const
Get constraints the path is subject to.
Definition: path.hh:226
pinocchio::value_type value_type
Definition: fwd.hh:157