hpp-core
4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
31 #define HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
37 #include <hpp/util/debug.hh>
38 #include <hpp/util/pointer.hh>
42 namespace steeringMethod {
69 std::vector<JointPtr_t> wheels);
75 void init(CarLikeWkPtr_t weak) {
97 #endif // HPP_CORE_STEERING_METHOD_CAR_LIKE_HH
pinocchio::size_type size_type
Definition: fwd.hh:173
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
value_type rho_
Turning radius.
Definition: car-like.hh:82
value_type turningRadius() const
Definition: car-like.hh:60
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:110
std::vector< JointPtr_t > wheels_
Definition: car-like.hh:85
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:135
size_type xyId_
Definition: car-like.hh:84
void setWheelJoints(const std::vector< JointPtr_t > wheels)
Set the wheels.
Definition: car-like.hh:54
void init(CarLikeWkPtr_t weak)
Store weak pointer to itself.
Definition: car-like.hh:75
std::vector< JointPtr_t > getWheelsFromParameter(const ProblemConstPtr_t &problem, const JointPtr_t &rz)
Definition: bi-rrt-planner.hh:35
Definition: steering-method.hh:48
virtual ~CarLike()
Definition: car-like.hh:51
Definition: car-like.hh:49
JointPtr_t xy_
Definition: car-like.hh:83
DeviceWkPtr_t device_
Definition: car-like.hh:80
pinocchio::value_type value_type
Definition: fwd.hh:174
#define HPP_CORE_DLLAPI
Definition: config.hh:64