hpp-core
4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/steering-method/car-like.hh>
Public Member Functions | |
virtual | ~CarLike () |
void | setWheelJoints (const std::vector< JointPtr_t > wheels) |
Set the wheels. More... | |
void | turningRadius (const value_type &rho) |
value_type | turningRadius () const |
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PathPtr_t | operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
PathPtr_t | steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
virtual | ~SteeringMethod () |
virtual SteeringMethodPtr_t | copy () const =0 |
Copy instance and return shared pointer. More... | |
ProblemConstPtr_t | problem () const |
void | constraints (const ConstraintSetPtr_t &constraints) |
Set constraint set. More... | |
const ConstraintSetPtr_t & | constraints () const |
Get constraint set. More... | |
Protected Member Functions | |
CarLike (const ProblemConstPtr_t &problem) | |
Constructor. More... | |
CarLike (const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels) | |
Constructor. More... | |
CarLike (const CarLike &other) | |
Copy constructor. More... | |
void | init (CarLikeWkPtr_t weak) |
Store weak pointer to itself. More... | |
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SteeringMethod (const ProblemConstPtr_t &problem) | |
Constructor. More... | |
SteeringMethod (const SteeringMethod &other) | |
virtual PathPtr_t | impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0 |
create a path between two configurations More... | |
void | init (SteeringMethodWkPtr_t weak) |
Store weak pointer to itself. More... | |
Protected Attributes | |
DeviceWkPtr_t | device_ |
value_type | rho_ |
Turning radius. More... | |
JointPtr_t | xy_ |
JointPtr_t | rz_ |
size_type | xyId_ |
size_type | rzId_ |
std::vector< JointPtr_t > | wheels_ |
Abstract class that implements various type of trajectories for carlike vehicles
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Constructor.
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Constructor.
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Copy constructor.
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Store weak pointer to itself.
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Set the wheels.
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void hpp::core::steeringMethod::CarLike::turningRadius | ( | const value_type & | rho | ) |
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Turning radius.
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