hpp-core
4.15.1
Implement basic classes for canonical path planning for kinematic chains.
random-shortcut.hh
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//
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// Copyright (c) 2014 CNRS
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// Authors: Florent Lamiraux
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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#ifndef HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
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#define HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
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#include <
hpp/core/path-optimizer.hh
>
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namespace
hpp
{
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namespace
core {
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namespace
pathOptimization {
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class
HPP_CORE_DLLAPI
RandomShortcut
:
public
PathOptimizer
{
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public
:
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static
RandomShortcutPtr_t
create(
const
ProblemConstPtr_t
& problem);
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virtual
PathVectorPtr_t
optimize(
const
PathVectorPtr_t
& path);
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protected
:
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RandomShortcut
(
const
ProblemConstPtr_t
& problem);
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virtual
bool
shootTimes(
const
PathVectorPtr_t
& currentOpt,
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const
value_type
& t0,
value_type
& t1,
value_type
& t2,
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const
value_type
& t3);
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};
// class RandomShortcut
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}
// namespace pathOptimization
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_PATH_OPTIMIZATION_RANDOM_SHORTCUT_HH
hpp::core::pathOptimization::RandomShortcutPtr_t
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition:
fwd.hh:283
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition:
fwd.hh:197
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition:
fwd.hh:193
hpp::core::pathOptimization::RandomShortcut
Definition:
random-shortcut.hh:49
path-optimizer.hh
hpp
Definition:
bi-rrt-planner.hh:35
hpp::core::PathOptimizer
Definition:
path-optimizer.hh:44
hpp::core::value_type
pinocchio::value_type value_type
Definition:
fwd.hh:174
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition:
config.hh:64
include
hpp
core
path-optimization
random-shortcut.hh
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