hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_STEERING_METHOD_SNIBUD_HH
31 #define HPP_CORE_STEERING_METHOD_SNIBUD_HH
36 #include <hpp/util/debug.hh>
37 #include <hpp/util/pointer.hh>
41 namespace steeringMethod {
70 std::vector<JointPtr_t> wheels = std::vector<JointPtr_t>()) {
71 Snibud* ptr =
new Snibud(problem, turningRadius, xyJoint, rzJoint, wheels);
99 std::vector<JointPtr_t> wheels);
105 void init(SnibudWkPtr_t weak) {
117 #endif // HPP_CORE_STEERING_METHOD_SNIBUD_HH
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
static SnibudPtr_t create(const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels=std::vector< JointPtr_t >())
Definition: snibud.hh:67
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< Snibud > SnibudPtr_t
Definition: fwd.hh:49
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
void init(SnibudWkPtr_t weak)
Store weak pointer to itself.
Definition: snibud.hh:105
void init(CarLikeWkPtr_t weak)
Store weak pointer to itself.
Definition: car-like.hh:75
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: snibud.hh:86
Definition: bi-rrt-planner.hh:35
static SnibudPtr_t createWithGuess(const ProblemConstPtr_t &problem)
Definition: snibud.hh:57
Definition: car-like.hh:49
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
static SnibudPtr_t createCopy(const SnibudPtr_t &other)
Copy instance and return shared pointer.
Definition: snibud.hh:78
pinocchio::value_type value_type
Definition: fwd.hh:174
#define HPP_CORE_DLLAPI
Definition: config.hh:88