19 #ifndef HPP_CORE_PATH_OPTIMIZATION_PARTIAL_SHORTCUT_HH
20 # define HPP_CORE_PATH_OPTIMIZATION_PARTIAL_SHORTCUT_HH
26 namespace pathOptimization {
60 template <
typename Traits >
static
130 Traits::numberOfConsecutiveFailurePerJoints();
Definition: path-optimizer.hh:35
Definition: partial-shortcut.hh:57
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)
Optimize path.
PartialShortcut(const ProblemConstPtr_t &problem)
struct hpp::core::pathOptimization::PartialShortcut::Parameters parameters
static PartialShortcutPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
static PartialShortcutPtr_t createWithTraits(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
Definition: partial-shortcut.hh:123
#define HPP_CORE_DLLAPI
Definition: config.hh:64
ProblemConstPtr_t problem() const
Get problem.
Definition: path-optimizer.hh:40
std::vector< JointConstPtr_t > JointStdVector_t
Definition: partial-shortcut.hh:28
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:276
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:132
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
Definition: bi-rrt-planner.hh:24
Definition: partial-shortcut.hh:45
static value_type progressionMargin()
Definition: partial-shortcut.hh:52
static std::size_t numberOfConsecutiveFailurePerJoints()
Definition: partial-shortcut.hh:50
static bool removeLockedJoints()
Definition: partial-shortcut.hh:46
static bool onlyFullShortcut()
Definition: partial-shortcut.hh:48
Definition: partial-shortcut.hh:70
bool onlyFullShortcut
Definition: partial-shortcut.hh:79
bool removeLockedJoints
Definition: partial-shortcut.hh:75
std::size_t numberOfConsecutiveFailurePerJoints
Definition: partial-shortcut.hh:84
value_type progressionMargin
Definition: partial-shortcut.hh:89