hpp-wholebody-step  4.12.0
Path planning for humanoid robot by sliding on the groud.
time-dependant.hh
Go to the documentation of this file.
1 // This file is part of hpp-wholebody-step.
6 // hpp-wholebody-step-planner is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-wholebody-step-planner is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-wholebody-step-planner. If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_WHOLEBODY_STEP_TIME_DEPENDANT_HH
20 # define HPP_WHOLEBODY_STEP_TIME_DEPENDANT_HH
21 
22 # include <hpp/constraints/implicit.hh>
23 
24 # include <hpp/wholebody-step/fwd.hh>
25 
26 namespace hpp {
27  namespace wholebodyStep {
30  virtual void operator() (vectorOut_t output, const value_type& input)
31  const = 0;
32  };
33  typedef std::shared_ptr <const RightHandSideFunctor> RightHandSideFunctorPtr_t;
34 
36  {
37  void rhsAbscissa (const value_type s) const
38  {
39  (*rhsFunc_) (eq_->rightHandSide(), s);
40  }
41 
43  const RightHandSideFunctorPtr_t rhs):
44  eq_ (eq), rhsFunc_ (rhs)
45  {}
46 
47  TimeDependant (const TimeDependant& other) :
48  eq_ (other.eq_), rhsFunc_ (other.rhsFunc_)
49  {}
50 
53  }; // class TimeDependant
54  } // namespace wholebodyStep
55 } // namespace hpp
56 #endif // HPP_WHOLEBODY_STEP_TIME_DEPENDANT_HH
hpp::wholebodyStep::RightHandSideFunctor
Definition: time-dependant.hh:29
hpp::wholebodyStep::TimeDependant::rhsAbscissa
void rhsAbscissa(const value_type s) const
Definition: time-dependant.hh:37
hpp::wholebodyStep::value_type
core::value_type value_type
Definition: fwd.hh:76
hpp::wholebodyStep::TimeDependant::TimeDependant
TimeDependant(const ImplicitPtr_t &eq, const RightHandSideFunctorPtr_t rhs)
Definition: time-dependant.hh:42
hpp::wholebodyStep::TimeDependant
Definition: time-dependant.hh:35
hpp::wholebodyStep::TimeDependant::eq_
ImplicitPtr_t eq_
Definition: time-dependant.hh:51
fwd.hh
hpp
Definition: fwd.hh:28
hpp::wholebodyStep::TimeDependant::TimeDependant
TimeDependant(const TimeDependant &other)
Definition: time-dependant.hh:47
hpp::wholebodyStep::vectorOut_t
core::vectorOut_t vectorOut_t
Definition: fwd.hh:75
hpp::wholebodyStep::ImplicitPtr_t
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: static-stability-constraint.hh:31
HPP_WHOLEBODY_STEP_DLLAPI
#define HPP_WHOLEBODY_STEP_DLLAPI
Definition: config.hh:64
hpp::wholebodyStep::TimeDependant::rhsFunc_
RightHandSideFunctorPtr_t rhsFunc_
Definition: time-dependant.hh:52
hpp::wholebodyStep::RightHandSideFunctorPtr_t
std::shared_ptr< const RightHandSideFunctor > RightHandSideFunctorPtr_t
Definition: time-dependant.hh:33