hpp-rbprm
4.15.1
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
20 #define HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
22 #include <hpp/core/config-projector.hh>
23 #include <hpp/core/configuration-shooter.hh>
24 #include <hpp/core/path.hh>
25 #include <hpp/pinocchio/device.hh>
33 namespace interpolation {
43 :
public core::ConfigurationShooter {
54 create(
const core::DevicePtr_t device,
const hpp::core::PathPtr_t rootPath,
56 core::ConfigProjectorPtr_t projector,
const rbprm::T_Limb freeLimbs);
66 TimeConstraintShooterWkPtr_t weak_;
74 const hpp::core::PathPtr_t rootPath,
75 const std::size_t pathDofRank,
77 core::ConfigProjectorPtr_t projector,
82 virtual void impl_shoot(core::Configuration_t& q)
const;
89 #endif // HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
Definition: time-constraint-shooter.hh:42
core::ConfigProjectorPtr_t projector_
Definition: time-constraint-shooter.hh:70
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:73
const hpp::core::PathPtr_t rootPath_
Definition: time-constraint-shooter.hh:59
T_TimeDependant tds_
Definition: time-constraint-shooter.hh:69
shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:35
std::map< std::string, const rbprm::RbPrmLimbPtr_t > T_Limb
Definition: rbprm-limb.hh:43
Definition: algorithm.hh:26
const core::DevicePtr_t device_
Definition: time-constraint-shooter.hh:62
const std::size_t pathDofRank_
Definition: time-constraint-shooter.hh:60
const std::size_t configSize_
Definition: time-constraint-shooter.hh:61
const rbprm::T_Limb freeLimbs_
Definition: time-constraint-shooter.hh:63
HPP_PREDEF_CLASS(ComTrajectory)
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64