19 #ifndef HPP_RBPRM_PATH_INTERPOLATION_HH
20 #define HPP_RBPRM_PATH_INTERPOLATION_HH
24 #include <hpp/core/path-vector.hh>
25 #include <hpp/pinocchio/device.hh>
31 typedef std::vector<pinocchio::vector_t, Eigen::aligned_allocator<pinocchio::vector_t> >
T_Configuration;
33 namespace interpolation {
52 const core::PathVectorConstPtr_t path = core::PathVectorConstPtr_t(),
53 const bool testReachability =
true,
const bool quasiStatic =
false);
68 const std::map<std::string, std::vector<std::string> >& affFilters,
69 const double timeStep = 0.01,
const double robustnessTreshold = 0.,
70 const bool filterStates =
false);
85 const std::map<std::string, std::vector<std::string> >& affFilters,
87 const pinocchio::value_type timeStep = 1.,
88 const pinocchio::value_type initValue = 0.,
const bool filterStates =
false);
90 core::Configuration_t
configPosition(core::ConfigurationIn_t previous,
const core::PathVectorConstPtr_t path,
103 const core::PathVectorConstPtr_t
path_;
123 bool testReachability(
const State& s0,
const State& s1);
127 const State& end,
const bool testReachability =
true,
const bool quasiStatic =
false);
132 void init(
const RbPrmInterpolationWkPtr_t& weakPtr);
135 RbPrmInterpolationWkPtr_t weakPtr_;
Definition: rbprm-path-interpolation.hh:42
bool testReachability_
Definition: rbprm-path-interpolation.hh:106
static RbPrmInterpolationPtr_t create(const RbPrmFullBodyPtr_t robot, const State &start, const State &end, const core::PathVectorConstPtr_t path=core::PathVectorConstPtr_t(), const bool testReachability=true, const bool quasiStatic=false)
const State start_
Definition: rbprm-path-interpolation.hh:104
void init(const RbPrmInterpolationWkPtr_t &weakPtr)
Initialization.
rbprm::T_StateFrame Interpolate(const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const double timeStep=0.01, const double robustnessTreshold=0., const bool filterStates=false)
rbprm::T_StateFrame addGoalConfig(const rbprm::T_StateFrame &states)
addGoalConfig add goal configuration (end_state) at the end of a states list. Modify the last state (...
const State end_
Definition: rbprm-path-interpolation.hh:105
core::Configuration_t configPosition(core::ConfigurationIn_t previous, const core::PathVectorConstPtr_t path, double i)
rbprm::T_StateFrame addGoalConfigRec(const rbprm::T_StateFrame &states, const std::vector< std::string > variations)
const core::PathVectorConstPtr_t path_
Definition: rbprm-path-interpolation.hh:103
rbprm::T_StateFrame Interpolate(const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const T_Configuration &configs, const double robustnessTreshold=0., const pinocchio::value_type timeStep=1., const pinocchio::value_type initValue=0., const bool filterStates=false)
bool quasiStatic_
Definition: rbprm-path-interpolation.hh:107
RbPrmInterpolation(const core::PathVectorConstPtr_t path, const RbPrmFullBodyPtr_t robot, const State &start, const State &end, const bool testReachability=true, const bool quasiStatic=false)
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
HPP_PREDEF_CLASS(ComTrajectory)
std::shared_ptr< RbPrmInterpolation > RbPrmInterpolationPtr_t
Definition: rbprm-path-interpolation.hh:39
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
std::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
std::vector< StateFrame > T_StateFrame
Definition: rbprm-state.hh:35
T_Configuration::const_iterator CIT_Configuration
Definition: rbprm-path-interpolation.hh:32
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
std::pair< pinocchio::value_type, rbprm::State > StateFrame
Definition: rbprm-state.hh:34
std::vector< pinocchio::vector_t, Eigen::aligned_allocator< pinocchio::vector_t > > T_Configuration
Definition: rbprm-path-interpolation.hh:31
Definition: algorithm.hh:27
Definition: rbprm-state.hh:40