hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
time-parameterization.hh
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// Copyright (c) 2017, Joseph Mirabel
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
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//
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// This file is part of hpp-core.
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// hpp-core is free software: you can redistribute it
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// and/or modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation, either version
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// 3 of the License, or (at your option) any later version.
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//
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// hpp-core is distributed in the hope that it will be
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Lesser Public License for more details. You should have
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// received a copy of the GNU Lesser General Public License along with
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// hpp-core. If not, see <http://www.gnu.org/licenses/>.
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#ifndef HPP_CORE_TIME_PARAMETERIZATION_HH
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# define HPP_CORE_TIME_PARAMETERIZATION_HH
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# include <
hpp/core/fwd.hh
>
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# include <
hpp/core/config.hh
>
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namespace
hpp
{
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namespace
core {
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class
HPP_CORE_DLLAPI
TimeParameterization
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{
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public
:
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virtual
value_type
value (
const
value_type
& t)
const
= 0;
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virtual
value_type
derivative (
const
value_type
& t,
const
size_type
& order)
const
= 0;
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virtual
value_type
derivativeBound
(
const
value_type
& low,
const
value_type
& up)
const
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{
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(void) low;
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(void) up;
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throw
std::logic_error(
"not implemented"
);
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}
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virtual
TimeParameterizationPtr_t
copy ()
const
= 0;
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};
// class TimeParameterization
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_TIME_PARAMETERIZATION_HH
hpp::core::size_type
pinocchio::size_type size_type
Definition:
fwd.hh:156
hpp::core::TimeParameterization::derivativeBound
virtual value_type derivativeBound(const value_type &low, const value_type &up) const
Definition:
time-parameterization.hh:30
fwd.hh
hpp
Definition:
bi-rrt-planner.hh:24
hpp::core::TimeParameterization
Definition:
time-parameterization.hh:25
hpp::core::TimeParameterizationPtr_t
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition:
fwd.hh:172
config.hh
hpp::core::value_type
pinocchio::value_type value_type
Definition:
fwd.hh:157
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
time-parameterization.hh
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