19 #ifndef HPP_RBPRM_PATH_INTERPOLATION_HH
20 #define HPP_RBPRM_PATH_INTERPOLATION_HH
22 #include <hpp/core/path-vector.hh>
23 #include <hpp/pinocchio/device.hh>
30 typedef std::vector<pinocchio::vector_t,
31 Eigen::aligned_allocator<pinocchio::vector_t> >
34 namespace interpolation {
54 const core::PathVectorConstPtr_t path = core::PathVectorConstPtr_t(),
55 const bool testReachability =
true,
const bool quasiStatic =
false);
72 const std::map<std::string, std::vector<std::string> >& affFilters,
73 const double timeStep = 0.01,
const double robustnessTreshold = 0.,
74 const bool filterStates =
false);
91 const std::map<std::string, std::vector<std::string> >& affFilters,
93 const pinocchio::value_type timeStep = 1.,
94 const pinocchio::value_type initValue = 0.,
95 const bool filterStates =
false);
97 core::Configuration_t configPosition(core::ConfigurationIn_t previous,
98 const core::PathVectorConstPtr_t path,
111 const std::vector<std::string> variations);
114 const core::PathVectorConstPtr_t
path_;
139 std::vector<std::string> limbsNames);
140 bool testReachability(
const State& s0,
const State& s1);
145 const State& end,
const bool testReachability =
true,
146 const bool quasiStatic =
false);
151 void init(
const RbPrmInterpolationWkPtr_t& weakPtr);
154 RbPrmInterpolationWkPtr_t weakPtr_;
169 #endif // HPP_RBPRM_PATH_INTERPOLATION_HH