hpp-rbprm
4.14.0
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/interpolation/com-trajectory.hh>
Public Types | |
typedef Path | parent_t |
Public Member Functions | |
virtual | ~ComTrajectory () |
Destructor. More... | |
virtual core::PathPtr_t | copy () const |
virtual core::PathPtr_t | extract (const core::interval_t &subInterval) const |
core::Configuration_t | initial () const |
Get the initial configuration. More... | |
core::Configuration_t | end () const |
Get the final configuration. More... | |
virtual void | checkPath () const |
Static Public Member Functions | |
static ComTrajectoryPtr_t | create (pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length) |
static ComTrajectoryPtr_t | createCopy (const ComTrajectoryPtr_t &path) |
Public Attributes | |
const pinocchio::vector3_t | initial_ |
const pinocchio::vector3_t | end_ |
const pinocchio::vector3_t | initSpeed_ |
const pinocchio::vector3_t | half_acceleration_ |
const pinocchio::vector3_t | acceleration_ |
const pinocchio::value_type | length_ |
Protected Member Functions | |
virtual std::ostream & | print (std::ostream &os) const |
Print path in a stream. More... | |
ComTrajectory (pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length) | |
Constructor. More... | |
ComTrajectory (const ComTrajectory &path) | |
Copy constructor. More... | |
void | init (ComTrajectoryPtr_t self) |
virtual bool | impl_compute (core::ConfigurationOut_t result, core::value_type param) const |
virtual core::PathPtr_t | copy (const core::ConstraintSetPtr_t &) const |
Linear interpolation between two configurations
Degrees of freedom are interpolated depending on the type of joint they parameterize:
typedef Path hpp::rbprm::interpolation::ComTrajectory::parent_t |
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inlinevirtual |
Destructor.
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protected |
Constructor.
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protected |
Copy constructor.
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inlinevirtual |
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inlinevirtual |
Return a shared pointer to this
As ComTrajectoryP are immutable, and refered to by shared pointers, they do not need to be copied.
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inlineprotectedvirtual |
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inlinestatic |
Create instance and return shared pointer
device | Robot corresponding to configurations |
init,end | Start and end configurations of the path |
length | Distance between the configurations. |
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inlinestatic |
Create copy and return shared pointer
path | path to copy |
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inline |
Get the final configuration.
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virtual |
Extraction/Reversion of a sub-path
subInterval | interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed. |
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protectedvirtual |
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inlineprotected |
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inline |
Get the initial configuration.
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inlineprotectedvirtual |
Print path in a stream.
const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::acceleration_ |
const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::end_ |
const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::half_acceleration_ |
const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::initial_ |
const pinocchio::vector3_t hpp::rbprm::interpolation::ComTrajectory::initSpeed_ |
const pinocchio::value_type hpp::rbprm::interpolation::ComTrajectory::length_ |