hpp-core
4.13.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_RELATIVE_MOTION_HH
31 #define HPP_CORE_RELATIVE_MOTION_HH
35 #include <hpp/pinocchio/fwd.hh>
36 #include <hpp/pinocchio/joint.hh>
61 typedef Eigen::Matrix<RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic>
109 return (joint ? joint->index() : 0);
117 struct NumTraits<
hpp::core::RelativeMotion::RelativeMotionType>
121 #endif // HPP_CORE_RELATIVE_MOTION_HH
pinocchio::size_type size_type
Definition: fwd.hh:162
Definition: relative-motion.hh:115
@ Constrained
Definition: relative-motion.hh:44
@ Unconstrained
The relative motion is not constrained.
Definition: relative-motion.hh:49
static size_type idx(const JointConstPtr_t &joint)
Definition: relative-motion.hh:108
Definition: relative-motion.hh:40
Definition: bi-rrt-planner.hh:35
@ Parameterized
Definition: relative-motion.hh:47
static void recurseSetRelMotion(matrix_type &matrix, const size_type &i1, const size_type &i2, const RelativeMotionType &type)
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:119
Eigen::Matrix< RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic > matrix_type
Definition: relative-motion.hh:62
static matrix_type matrix(const DevicePtr_t &robot)
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:123
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:139
static void fromConstraint(matrix_type &matrix, const DevicePtr_t &robot, const ConstraintSetPtr_t &constraint)
RelativeMotionType
Definition: relative-motion.hh:41