hpp-python: src/pyhpp/manipulation/steering-method.hh Source File

hpp-python 9.0.2 python bindings for HPP, based on boost python

steering-method.hh
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1 // problem.hh
2 //
3 // Copyright (c) 2025, CNRS
4 // Authors: Paul Sardin
5 //
6 // This file is part of hpp-python
7 // hpp-python is free software—you can redistribute it
8 // and/or modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation, either version
10 // 3 of the License, or (at your option) any later version.
11 //
12 // hpp-python is distributed in the hope that it will be
13 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
14 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // Lesser General Public License for more details. You should have
16 // received a copy of the GNU Lesser General Public License along with
17 // hpp-python. If not, see <http://www.gnu.org/licenses/>.
18
19 #ifndef PYHPP_MANIPULATION_STEERING_METHOD_HH
20 #define PYHPP_MANIPULATION_STEERING_METHOD_HH
21
22 #include <hpp/constraints/differentiable-function.hh>
23 #include <hpp/core/path.hh>
24 #include <hpp/core/steering-method.hh>
25 #include <hpp/manipulation/steering-method/end-effector-trajectory.hh>
26 #include <hpp/manipulation/steering-method/graph.hh>
27 #include <pyhpp/core/problem.hh>
28 #include <pyhpp/core/steering-method.hh>
29
30 namespace pyhpp {
31 namespace manipulation {
32
33 using namespace boost::python;
34 typedef pyhpp::core::PyWSteeringMethodPtr_t PyWSteeringMethodPtr_t;
35
36 struct GraphSteeringMethod {
37 hpp::manipulation::steeringMethod::GraphPtr_t obj;
38 GraphSteeringMethod(const PyWSteeringMethodPtr_t& steeringMethodWrapper);
39 };
40
41 struct EndEffectorTrajectorySteeringMethod : pyhpp::core::SteeringMethod {
42 hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t eetObj() const;
43 EndEffectorTrajectorySteeringMethod(
44 const hpp::core::ProblemConstPtr_t& problem);
45 void setTrajectoryConstraint(const hpp::constraints::ImplicitPtr_t& ic);
46 void setTrajectory(const hpp::core::PathPtr_t& eeTraj, bool se3Output);
47 };
48 } // namespace manipulation
49 } // namespace pyhpp
50 #endif // PYHPP_MANIPULATION_STEERING_METHOD_HH
hpp::core::SteeringMethod
differentiable-function.hh
problem
ProblemConstPtr_t problem() const
problem.hh
steering-method.hh
hpp::constraints::ImplicitPtr_t
shared_ptr< Implicit > ImplicitPtr_t
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
hpp::manipulation::steeringMethod::GraphPtr_t
shared_ptr< Graph > GraphPtr_t
pyhpp::core::PyWSteeringMethodPtr_t
std::shared_ptr< SteeringMethod > PyWSteeringMethodPtr_t
Definition: problem.hh:42
pyhpp::manipulation::PyWSteeringMethodPtr_t
pyhpp::core::PyWSteeringMethodPtr_t PyWSteeringMethodPtr_t
Definition: path-projector.cc:49
pyhpp
Definition: fwd.hh:35
path.hh
end-effector-trajectory.hh
graph.hh
pyhpp::manipulation::EndEffectorTrajectorySteeringMethod
Definition: steering-method.hh:41
pyhpp::manipulation::GraphSteeringMethod
Definition: steering-method.hh:36
pyhpp::manipulation::GraphSteeringMethod::obj
hpp::manipulation::steeringMethod::GraphPtr_t obj
Definition: steering-method.hh:37