19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
20 #define HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
22 #include <hpp/core/config-projector.hh>
23 #include <hpp/core/configuration-shooter.hh>
24 #include <hpp/core/path.hh>
25 #include <hpp/pinocchio/device.hh>
33 namespace interpolation {
43 :
public core::ConfigurationShooter {
54 create(
const core::DevicePtr_t device,
const hpp::core::PathPtr_t rootPath,
56 core::ConfigProjectorPtr_t projector,
const rbprm::T_Limb freeLimbs);
66 TimeConstraintShooterWkPtr_t weak_;
74 const hpp::core::PathPtr_t rootPath,
75 const std::size_t pathDofRank,
77 core::ConfigProjectorPtr_t projector,
Definition: time-constraint-shooter.hh:43
const std::size_t pathDofRank_
Definition: time-constraint-shooter.hh:60
T_TimeDependant tds_
Definition: time-constraint-shooter.hh:69
void init(const TimeConstraintShooterPtr_t &self)
const core::DevicePtr_t device_
Definition: time-constraint-shooter.hh:62
const rbprm::T_Limb freeLimbs_
Definition: time-constraint-shooter.hh:63
const hpp::core::PathPtr_t rootPath_
Definition: time-constraint-shooter.hh:59
core::ConfigProjectorPtr_t projector_
Definition: time-constraint-shooter.hh:70
static HPP_RBPRM_DLLAPI TimeConstraintShooterPtr_t create(const core::DevicePtr_t device, const hpp::core::PathPtr_t rootPath, const std::size_t pathDofRank, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector, const rbprm::T_Limb freeLimbs)
virtual void impl_shoot(core::Configuration_t &q) const
const std::size_t configSize_
Definition: time-constraint-shooter.hh:61
TimeConstraintShooter(const core::DevicePtr_t device, const hpp::core::PathPtr_t rootPath, const std::size_t pathDofRank, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector, const rbprm::T_Limb freeLimbs)
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:35
HPP_PREDEF_CLASS(ComTrajectory)
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:73
std::map< std::string, const rbprm::RbPrmLimbPtr_t > T_Limb
Definition: rbprm-limb.hh:43
Definition: algorithm.hh:26