hpp-core
4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/distance/reeds-shepp.hh>
Public Member Functions | |
virtual DistancePtr_t | clone () const |
void | turningRadius (const value_type &rho) |
value_type | turningRadius () const |
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value_type | operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
value_type | operator() (NodePtr_t n1, NodePtr_t n2) const |
value_type | compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
value_type | compute (NodePtr_t n1, NodePtr_t n2) const |
virtual | ~Distance () |
Static Public Member Functions | |
static ReedsSheppPtr_t | create (const ProblemConstPtr_t &problem) |
static ReedsSheppPtr_t | create (const ProblemConstPtr_t &problem, const value_type &turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels) |
static ReedsSheppPtr_t | createCopy (const ReedsSheppPtr_t &distance) |
Protected Member Functions | |
ReedsShepp (const ProblemConstPtr_t &problem) | |
ReedsShepp (const ProblemConstPtr_t &problem, const value_type &turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels) | |
ReedsShepp (const ReedsShepp &distance) | |
virtual value_type | impl_distance (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
Derived class should implement this function. More... | |
void | init (const ReedsSheppWkPtr_t &weak) |
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Distance () | |
virtual value_type | impl_distance (NodePtr_t n1, NodePtr_t n2) const |
HPP_SERIALIZABLE () | |
Reeds and Shepp distance
Compute the distance between two configurations of a nonholonomic cart-like mobile robot with bounded curvature.
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Implements hpp::core::Distance.
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protectedvirtual |
Derived class should implement this function.
Implements hpp::core::Distance.
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void hpp::core::distance::ReedsShepp::turningRadius | ( | const value_type & | rho | ) |