hpp-core
4.9.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_STRAIGHT_PATH_HH
20 # define HPP_CORE_STRAIGHT_PATH_HH
22 # include <hpp/pinocchio/liegroup-element.hh>
61 ptr =
new StraightPath (space, init, end, interval, constraints);
79 assert (init.space() == end.space());
80 return create (init.space(), init.vector(), end.vector(), interval, constraints);
92 return create (device, init, end,
interval_t (0, length));
119 return create (device, init, end,
interval_t (0, length), constraints);
168 return createCopy (weak_.lock ());
177 return createCopy (weak_.lock (), constraints);
186 assert (initial.size () == initial_.size ());
196 assert (end.size () == end_.size ());
217 virtual std::ostream&
print (std::ostream &os)
const
219 os <<
"StraightPath:" << std::endl;
221 os <<
"initial configuration: " << initial_.transpose () << std::endl;
222 os <<
"final configuration: " << end_.transpose () << std::endl;
257 parent_t::init (
self);
282 StraightPathWkPtr_t weak_;
287 #endif // HPP_CORE_STRAIGHT_PATH_HH
Configuration_t initial_
Definition: straight-path.hh:279
boost::shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:182
pinocchio::size_type size_type
Definition: fwd.hh:156
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
static StraightPathPtr_t create(LiegroupElementConstRef init, LiegroupElementConstRef end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:74
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
Definition: straight-path.hh:124
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval)
Definition: straight-path.hh:99
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
Definition: straight-path.hh:113
Configuration_t end() const
Get the final configuration.
Definition: straight-path.hh:210
static StraightPathPtr_t create(const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
Definition: straight-path.hh:87
void endConfig(ConfigurationIn_t end)
Definition: straight-path.hh:194
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:155
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
void init(StraightPathPtr_t self)
Definition: straight-path.hh:255
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:203
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:153
virtual ~StraightPath()
Destructor.
Definition: straight-path.hh:47
void initialConfig(ConfigurationIn_t initial)
Definition: straight-path.hh:184
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
virtual std::ostream & print(std::ostream &os) const
constraints::Implicit NumericalConstraint HPP_CORE_DEPRECATED
Definition: fwd.hh:347
static StraightPathPtr_t createCopy(const StraightPathPtr_t &path)
Definition: straight-path.hh:140
LiegroupSpacePtr_t space_
Definition: straight-path.hh:278
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: straight-path.hh:217
Definition: basic-configuration-shooter.hh:26
virtual void checkPath() const
Should be called by child classes after having init.
virtual PathPtr_t copy() const
Definition: straight-path.hh:166
virtual PathPtr_t copy(const ConstraintSetPtr_t &constraints) const
Definition: straight-path.hh:175
Definition: straight-path.hh:42
static StraightPathPtr_t create(LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
Definition: straight-path.hh:53
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:202
Path parent_t
Definition: straight-path.hh:45
DevicePtr_t device_
Definition: straight-path.hh:277
Configuration_t end_
Definition: straight-path.hh:280
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64
boost::shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170