18 #ifndef HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH
19 # define HPP_CORE_STEERING_METHOD_KINODYNAMIC_HH
21 # include <hpp/util/debug.hh>
22 # include <hpp/util/pointer.hh>
30 namespace steeringMethod {
32 typedef Eigen::Matrix <value_type, 3, 1>
Vector3;
71 return createCopy (weak_.lock ());
103 virtual void fixedTimeTrajectory(
int index,
double T,
double p1,
double p2,
double v1,
double v2,
double *a1,
double *t0,
double* t1,
double* tv,
double* t2,
double *vLim)
const;
120 void init (KinodynamicWkPtr_t weak)
135 KinodynamicWkPtr_t weak_;
Definition: steering-method.hh:39
void init(SteeringMethodWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-method.hh:114
Definition: steering-kinodynamic.hh:45
static KinodynamicPtr_t create(const ProblemConstPtr_t &problem)
Create an instance.
Definition: steering-kinodynamic.hh:50
Kinodynamic(const Kinodynamic &other)
Copy constructor.
double aMaxFixed_
Definition: steering-kinodynamic.hh:128
void setAmax(Vector3 aMax)
Definition: steering-kinodynamic.hh:106
double aMaxFixed_Z_
Definition: steering-kinodynamic.hh:129
void setVmax(Vector3 vMax)
Definition: steering-kinodynamic.hh:108
Vector3 aMax_
Definition: steering-kinodynamic.hh:126
bool orientedPath_
Definition: steering-kinodynamic.hh:131
Kinodynamic(const ProblemConstPtr_t &problem)
Constructor.
bool synchronizeVerticalAxis_
Definition: steering-kinodynamic.hh:130
static KinodynamicPtr_t createCopy(const KinodynamicPtr_t &other)
Copy instance and return shared pointer.
Definition: steering-kinodynamic.hh:60
bool orientationIgnoreZValue_
Definition: steering-kinodynamic.hh:132
virtual SteeringMethodPtr_t copy() const
Copy instance and return shared pointer.
Definition: steering-kinodynamic.hh:69
void init(KinodynamicWkPtr_t weak)
Store weak pointer to itself.
Definition: steering-kinodynamic.hh:120
virtual PathPtr_t impl_compute(ConfigurationIn_t q1, ConfigurationIn_t q2) const
create a path between two configurations
virtual void fixedTimeTrajectory(int index, double T, double p1, double p2, double v1, double v2, double *a1, double *t0, double *t1, double *tv, double *t2, double *vLim) const
fixedTimeTrajectory compute the minimum acceleration trajectory for desired time T (1 dimension)
Vector3 vMax_
Definition: steering-kinodynamic.hh:127
double computeMinTime(int index, double p1, double p2, double v1, double v2, interval_t *infInterval) const
computeMinTime compute the minimum time required to go from state (p1,v1) to (p2,v2)
#define HPP_CORE_DLLAPI
Definition: config.hh:64
Eigen::Matrix< value_type, 3, 1 > Vector3
Definition: steering-kinodynamic.hh:32
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:325
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:115
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
Definition: bi-rrt-planner.hh:24