hpp-core
5.2.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_STEERING_METHOD_HH
31 #define HPP_CORE_STEERING_METHOD_HH
36 #include <hpp/util/debug.hh>
58 path = impl_compute(q1, q2);
60 hppDout(info,
"Could not build path: " << e.
what());
62 assert(q1 != q2 || path);
68 return this->operator()(q1, q2);
85 constraints_ = constraints;
95 : problem_(problem), constraints_(), weak_() {}
100 : problem_(other.problem_), constraints_(), weak_() {
101 if (other.constraints_) {
103 HPP_DYNAMIC_PTR_CAST(
ConstraintSet, other.constraints_->copy());
110 void init(SteeringMethodWkPtr_t weak) { weak_ = weak; }
113 ProblemConstWkPtr_t problem_;
117 SteeringMethodWkPtr_t weak_;
122 #endif // HPP_CORE_STEERING_METHOD_HH
ProblemConstPtr_t problem() const
Definition: steering-method.hh:76
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: steering-method.hh:89
virtual const char * what() const noexcept
Definition: projection-error.hh:46
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
Definition: projection-error.hh:37
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:110
Definition: constraint-set.hh:47
Definition: bi-rrt-planner.hh:35
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Definition: steering-method.hh:67
Definition: steering-method.hh:48
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
SteeringMethod(const SteeringMethod &other)
Definition: steering-method.hh:99
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
PathPtr_t operator()(ConfigurationIn_t q1, ConfigurationIn_t q2) const
Definition: steering-method.hh:55
void constraints(const ConstraintSetPtr_t &constraints)
Set constraint set.
Definition: steering-method.hh:84
SteeringMethod(const ProblemConstPtr_t &problem)
Constructor.
Definition: steering-method.hh:94
#define HPP_CORE_DLLAPI
Definition: config.hh:88
virtual ~SteeringMethod()
Definition: steering-method.hh:71