hpp-rbprm  4.14.0
Implementation of RB-PRM planner using hpp.
hpp::rbprm::interpolation::VecRightSide< Reference > Struct Template Reference

#include <hpp/rbprm/interpolation/interpolation-constraints.hh>

Inheritance diagram for hpp::rbprm::interpolation::VecRightSide< Reference >:
Collaboration diagram for hpp::rbprm::interpolation::VecRightSide< Reference >:

Public Member Functions

 VecRightSide (const Reference ref, const int dim=3, const bool times_ten=false)
 
 ~VecRightSide ()
 
virtual void operator() (constraints::ImplicitPtr_t eq, const constraints::value_type &normalized_input, pinocchio::ConfigurationOut_t) const
 

Public Attributes

const Reference ref_
 Reference path of the right hand side of the constraint. More...
 
const int dim_
 Dimension of the right hand side of the constraint. More...
 
const bool times_ten_
 

Detailed Description

template<class Reference>
struct hpp::rbprm::interpolation::VecRightSide< Reference >

Time varying right hand side of constraint

Template Parameters
Referencetype of shared pointer to Path.

This class compute the right hand side of a constraints::Implicit instance as a mapping from interval [0,1] to a vector space called reference.

Constructor & Destructor Documentation

◆ VecRightSide()

template<class Reference >
hpp::rbprm::interpolation::VecRightSide< Reference >::VecRightSide ( const Reference  ref,
const int  dim = 3,
const bool  times_ten = false 
)
inline

Constructor

Parameters
refmapping defining the varying right hand side, the definition interval may not be [0,1] and will be normalized at evaluation.
dimdimension of the right hand side. If the dimension of the output of ref is bigger than dim, only the first coefficients will be used.

◆ ~VecRightSide()

template<class Reference >
hpp::rbprm::interpolation::VecRightSide< Reference >::~VecRightSide ( )
inline

Member Function Documentation

◆ operator()()

template<class Reference >
virtual void hpp::rbprm::interpolation::VecRightSide< Reference >::operator() ( constraints::ImplicitPtr_t  eq,
const constraints::value_type &  normalized_input,
pinocchio::ConfigurationOut_t   
) const
inlinevirtual

Compute and set right hand side of constraint.

Parameters
eqImplicit constraint,
normalized_inputreal valued parameter between 0 and 1, mapped in an affine way to a value in the definition interval of the reference path.

If $u\in[0,1]$ is the normalized input and $[a,b]$ the definition interval of $\mathbf{ref}$, then

\[ \mathbf{rhs} = \mathbf{ref} (a + u (b-a)) \]

Implements hpp::rbprm::interpolation::RightHandSideFunctor.

Member Data Documentation

◆ dim_

template<class Reference >
const int hpp::rbprm::interpolation::VecRightSide< Reference >::dim_

Dimension of the right hand side of the constraint.

◆ ref_

template<class Reference >
const Reference hpp::rbprm::interpolation::VecRightSide< Reference >::ref_

Reference path of the right hand side of the constraint.

◆ times_ten_

template<class Reference >
const bool hpp::rbprm::interpolation::VecRightSide< Reference >::times_ten_

The documentation for this struct was generated from the following file: