19 #ifndef HPP_RBPRM_COM_RRT_HH
20 #define HPP_RBPRM_COM_RRT_HH
22 #include <hpp/core/config-projector.hh>
23 #include <hpp/core/path.hh>
24 #include <hpp/core/problem.hh>
38 namespace interpolation {
40 struct SetComRRTConstraints;
42 typedef TimeConstraintHelper<TimeConstraintPath, ComRRTShooterFactory,
47 const State& to)
const;
51 core::ProblemSolverPtr_t problemSolver,
52 const PathPtr_t comPath,
const State& startState,
53 const State& nextState,
54 const std::size_t numOptimizations,
55 const bool keepExtraDof =
60 core::ProblemPtr_t referenceProblem,
61 const PathPtr_t comPath,
const State& startState,
62 const State& nextState,
63 const std::size_t numOptimizations,
64 const bool keepExtraDof =
false);
67 core::ProblemSolverPtr_t problemSolver,
68 const PathPtr_t comPath,
69 const PathPtr_t guidePath,
72 const std::size_t numOptimizations);
75 core::ProblemPtr_t referenceProblem,
77 const fcl::Vec3f& targetCom,
bool& success);
Definition: time-constraint-helper.hh:45
core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > ComRRTHelper
Definition: com-rrt.hh:40
core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)
core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
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: com-rrt.hh:45
void operator()(ComRRTHelper &helper, const State &from, const State &to) const