hpp-core
4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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29 #ifndef HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
30 #define HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
57 device, init, end, length, a1, t0, t1, tv, t2, vLim, ignoreZValue);
74 bool ignoreZValue =
false) {
77 t2, vLim, constraints, ignoreZValue);
96 bool ignoreZValue =
false) {
130 return createCopy(weak_.lock(), constraints);
138 virtual std::ostream&
print(std::ostream& os)
const {
139 os <<
"KinodynamicOrientedPath:" << std::endl;
140 os <<
"interval: [ " << timeRange().first <<
", " << timeRange().second
141 <<
" ]" << std::endl;
142 os <<
"initial configuration: " << pinocchio::displayConfig(initial_)
144 os <<
"final configuration: " << pinocchio::displayConfig(end_)
149 void orienteInitAndGoal(
const DevicePtr_t& device);
178 parent_t::init(
self);
188 KinodynamicOrientedPathWkPtr_t weak_;
194 #endif // HPP_CORE_KINODYNAMIC_ORIENTED_PATH_HH
bool ignoreZValue() const
Definition: kinodynamic-oriented-path.hh:133
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:208
KinodynamicPath parent_t
Definition: kinodynamic-oriented-path.hh:44
static KinodynamicOrientedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, bool ignoreZValue=false)
Definition: kinodynamic-oriented-path.hh:51
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:107
void ignoreZValue(bool ignoreZValue)
Definition: kinodynamic-oriented-path.hh:134
static KinodynamicOrientedPathPtr_t createCopy(const KinodynamicOrientedPathPtr_t &path, const ConstraintSetPtr_t &constraints)
Definition: kinodynamic-oriented-path.hh:108
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
Definition: kinodynamic-path.hh:59
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:108
virtual ~KinodynamicOrientedPath()
Definition: kinodynamic-oriented-path.hh:45
Definition: bi-rrt-planner.hh:35
virtual void checkPath() const
Should be called by child classes after having init.
void init(KinodynamicOrientedPathPtr_t self)
Definition: kinodynamic-oriented-path.hh:177
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:206
static KinodynamicOrientedPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints, bool ignoreZValue=false)
Definition: kinodynamic-oriented-path.hh:69
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
static KinodynamicOrientedPathPtr_t createCopy(const KinodynamicOrientedPathPtr_t &path)
Definition: kinodynamic-oriented-path.hh:86
virtual PathPtr_t copy() const
Definition: kinodynamic-oriented-path.hh:123
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
Definition: kinodynamic-oriented-path.hh:42
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: kinodynamic-oriented-path.hh:129
static KinodynamicOrientedPathPtr_t create(const KinodynamicPathPtr_t &path, bool ignoreZValue=false)
Definition: kinodynamic-oriented-path.hh:95
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: kinodynamic-oriented-path.hh:138
pinocchio::value_type value_type
Definition: fwd.hh:174
#define HPP_CORE_DLLAPI
Definition: config.hh:64