hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_STEERING_METHOD_DUBINS_HH
20 # define HPP_CORE_STEERING_METHOD_DUBINS_HH
22 # include <hpp/util/debug.hh>
23 # include <hpp/util/pointer.hh>
32 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);
119 #endif // HPP_CORE_STEERING_METHOD_DUBINS_HH
shared_ptr< Dubins > DubinsPtr_t
Definition: fwd.hh:34
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
void init(DubinsWkPtr_t weak)
Store weak pointer to itself.
Definition: dubins.hh:106
static DubinsPtr_t createWithGuess(const ProblemConstPtr_t &problem)
Definition: dubins.hh:49
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: dubins.hh:83
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
static DubinsPtr_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: dubins.hh:60
void init(CarLikeWkPtr_t weak)
Store weak pointer to itself.
Definition: car-like.hh:69
Definition: bi-rrt-planner.hh:24
Definition: car-like.hh:39
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64