19 #ifndef HPP_RBPRM_LIMB_RRT_HH
20 #define HPP_RBPRM_LIMB_RRT_HH
22 #include <hpp/core/config-projector.hh>
23 #include <hpp/core/path.hh>
24 #include <hpp/core/problem.hh>
37 namespace interpolation {
39 struct SetLimbRRTConstraints;
41 typedef TimeConstraintHelper<TimeConstraintPath, LimbRRTShooterFactory,
42 SetLimbRRTConstraints>
46 const State &to)
const;
50 core::ProblemPtr_t referenceProblem,
53 const std::size_t numOptimizations,
54 const std::size_t maxIteration = 0);
57 core::ProblemPtr_t referenceProblem,
58 const PathPtr_t refPath,
61 const std::size_t numOptimizations);
Definition: time-constraint-helper.hh:45
core::PathPtr_t limbRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const rbprm::CIT_State &startState, const rbprm::CIT_State &endState, const std::size_t numOptimizations, const std::size_t maxIteration=0)
TimeConstraintHelper< TimeConstraintPath, LimbRRTShooterFactory, SetLimbRRTConstraints > LimbRRTHelper
Definition: limb-rrt.hh:39
core::PathPtr_t limbRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const PathPtr_t refPath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
T_State::const_iterator CIT_State
Definition: rbprm-state.hh:32
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:35
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
Definition: limb-rrt.hh:44
void operator()(LimbRRTHelper &helper, const State &from, const State &to) const