hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_CONSTRAINT_HH
20 # define HPP_CORE_CONSTRAINT_HH
25 # include <hpp/util/serialization-fwd.hh>
46 const std::string&
name ()
const
72 Constraint (
const std::string& name) : name_ (name), weak_ ()
85 virtual std::ostream& print (std::ostream& os)
const = 0;
92 ConstraintWkPtr_t weak_;
104 return constraint.print (os);
109 #endif // HPP_CORE_CONSTRAINT_HH
Constraint(const Constraint &constraint)
Definition: constraint.hh:75
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
constraints::LockedJoint LockedJoint
Definition: fwd.hh:141
const std::string & name() const
Get name of constraint.
Definition: constraint.hh:46
virtual ~Constraint()
Definition: constraint.hh:66
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
Definition: config-projector.hh:57
std::ostream & operator<<(std::ostream &os, const Constraint &constraint)
Definition: constraint.hh:101
Definition: constraint-set.hh:36
Definition: bi-rrt-planner.hh:24
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:142
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
Constraint(const std::string &name)
Constructor.
Definition: constraint.hh:72
Definition: constraint.hh:38
#define HPP_CORE_DLLAPI
Definition: config.hh:64