hpp-manipulation
5.0.0
Classes for manipulation planning.
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29 #ifndef HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
30 #define HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
32 #include <hpp/core/steering-method.hh>
37 namespace manipulation {
38 namespace steeringMethod {
42 using core::PathPtr_t;
73 :
public core::SteeringMethod {
113 static PathPtr_t makePiecewiseLinearTrajectory(
matrixIn_t points,
126 void trajectory(
const PathPtr_t& eeTraj,
bool se3Output);
132 const interval_t& timeRange);
156 eeTraj_(other.eeTraj_),
157 timeRange_(other.timeRange_),
158 constraint_(other.constraint_) {}
166 interval_t timeRange_;
174 #endif // HPP_MANIPULATION_STEERING_METHOD_END_EFFECTOR_TRAJECTORY_HH
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: fwd.hh:115
const DifferentiableFunctionPtr_t & trajectory() const
Definition: end-effector-trajectory.hh:134
const interval_t & timeRange() const
Definition: end-effector-trajectory.hh:136
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:88
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:66
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
core::matrixIn_t matrixIn_t
Definition: fwd.hh:147
core::vectorIn_t vectorIn_t
Definition: fwd.hh:93
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:151
core::SteeringMethodPtr_t copy() const
Definition: end-effector-trajectory.hh:138
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:138
static EndEffectorTrajectoryPtr_t create(const core::ProblemConstPtr_t &problem)
Definition: end-effector-trajectory.hh:77
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:131
HPP_PREDEF_CLASS(EndEffectorTrajectory)
const constraints::ImplicitPtr_t & trajectoryConstraint()
Definition: end-effector-trajectory.hh:119
Definition: end-effector-trajectory.hh:72
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:112
core::interval_t interval_t
Definition: end-effector-trajectory.hh:75
EndEffectorTrajectory(const EndEffectorTrajectory &other)
Definition: end-effector-trajectory.hh:154
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:139