hpp-core
4.13.0
Implement basic classes for canonical path planning for kinematic chains.
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29 #ifndef HPP_CORE_PATH_HERMITE_HH
30 #define HPP_CORE_PATH_HERMITE_HH
89 return createCopy(weak_.lock(), constraints);
96 parameters_.row(1) = parameters_.row(0) + speed.transpose() / 3;
101 parameters_.row(2) = parameters_.row(3) - speed.transpose() / 3;
106 return 3 * (parameters_.row(1) - parameters_.row(0));
113 vector_t v1()
const {
return 3 * (parameters_.row(3) - parameters_.row(2)); }
121 void computeHermiteLength();
127 virtual std::ostream&
print(std::ostream& os)
const {
128 os <<
"Hermite:" << std::endl;
130 os <<
"initial configuration: " << initial().transpose() << std::endl;
131 os <<
"final configuration: " << end().transpose() << std::endl;
159 HermiteWkPtr_t weak_;
165 #endif // HPP_CORE_PATH_HERMITE_HH
virtual PathPtr_t copy() const
Definition: hermite.hh:82
Definition: hermite.hh:42
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
virtual Configuration_t initial() const
Definition: hermite.hh:115
virtual ~Hermite()
Destructor.
Definition: hermite.hh:47
pinocchio::vector_t vector_t
Definition: fwd.hh:209
static HermitePtr_t createCopy(const HermitePtr_t &path)
Definition: hermite.hh:60
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
void init(HermitePtr_t self)
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:176
virtual std::ostream & print(std::ostream &os) const
vector_t v0() const
Definition: hermite.hh:105
const value_type & hermiteLength() const
Definition: hermite.hh:119
Definition: bi-rrt-planner.hh:35
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:210
Spline< BernsteinBasis, 3 > parent_t
Definition: hermite.hh:44
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:119
static HermitePtr_t createCopy(const HermitePtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: hermite.hh:70
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: hermite.hh:88
void v1(const vectorIn_t &speed)
Definition: hermite.hh:100
static HermitePtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, ConstraintSetPtr_t constraints)
Definition: hermite.hh:49
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:235
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:123
vector_t v1() const
Definition: hermite.hh:113
void v0(const vectorIn_t &speed)
Definition: hermite.hh:95
virtual Configuration_t end() const
Definition: hermite.hh:117
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: hermite.hh:127
pinocchio::value_type value_type
Definition: fwd.hh:163
#define HPP_CORE_DLLAPI
Definition: config.hh:64