hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
com-trajectory.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
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14 // General Lesser Public License for more details. You should have
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16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_COM_TRAJECTORY_HH
20 #define HPP_RBPRM_COM_TRAJECTORY_HH
21 
22 #include <hpp/core/config.hh>
23 #include <hpp/core/fwd.hh>
24 #include <hpp/core/path.hh>
26 
27 namespace hpp {
28 namespace rbprm {
29 namespace interpolation {
31 typedef shared_ptr<ComTrajectory> ComTrajectoryPtr_t;
41 class HPP_CORE_DLLAPI ComTrajectory : public core::Path {
42  public:
43  typedef Path parent_t;
45  virtual ~ComTrajectory() {}
46 
51  static ComTrajectoryPtr_t create(pinocchio::vector3_t init,
52  pinocchio::vector3_t end,
53  pinocchio::vector3_t initSpeed,
54  pinocchio::vector3_t acceleration,
55  core::value_type length) {
56  ComTrajectory* ptr =
57  new ComTrajectory(init, end, initSpeed, acceleration, length);
58  ComTrajectoryPtr_t shPtr(ptr);
59  ptr->init(shPtr);
60  ptr->checkPath();
61  return shPtr;
62  }
63 
67  ComTrajectory* ptr = new ComTrajectory(*path);
68  ComTrajectoryPtr_t shPtr(ptr);
69  ptr->init(shPtr);
70  ptr->checkPath();
71  return shPtr;
72  }
73 
78  virtual core::PathPtr_t copy() const { return createCopy(weak_.lock()); }
79 
84  virtual core::PathPtr_t extract(const core::interval_t& subInterval) const;
85 
87  core::Configuration_t initial() const { return initial_; }
88 
90  core::Configuration_t end() const { return end_; }
91 
92  virtual void checkPath() const {}
93 
94  protected:
96  virtual std::ostream& print(std::ostream& os) const {
97  os << "ComTrajectory:" << std::endl;
98  os << "interval: [ " << timeRange().first << ", " << timeRange().second
99  << " ]" << std::endl;
100  os << "initial configuration: " << initial_ << std::endl;
101  os << "final configuration: " << end_ << std::endl;
102  os << "init speed: " << initSpeed_ << std::endl;
103  os << "acceleration (constant): " << (acceleration_) << std::endl;
104  return os;
105  }
107  ComTrajectory(pinocchio::vector3_t init, pinocchio::vector3_t end,
108  pinocchio::vector3_t initSpeed,
109  pinocchio::vector3_t acceleration, core::value_type length);
110 
113 
115  parent_t::init(self);
116  weak_ = self;
117  }
118 
119  virtual bool impl_compute(core::ConfigurationOut_t result,
120  core::value_type param) const;
121 
122  virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t&) const { throw; }
123 
124  public:
125  const pinocchio::vector3_t initial_;
126  const pinocchio::vector3_t end_;
127  const pinocchio::vector3_t initSpeed_;
128  const pinocchio::vector3_t half_acceleration_;
129  const pinocchio::vector3_t acceleration_;
130  const pinocchio::value_type length_;
131 
132  private:
133  ComTrajectoryWkPtr_t weak_;
134 }; // class ComTrajectory
135 } // namespace interpolation
136 } // namespace rbprm
137 } // namespace hpp
138 #endif // HPP_RBPRM_COM_TRAJECTORY_HH
Definition: com-trajectory.hh:41
static ComTrajectoryPtr_t create(pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length)
Definition: com-trajectory.hh:51
const pinocchio::vector3_t initSpeed_
Definition: com-trajectory.hh:127
Path parent_t
Definition: com-trajectory.hh:43
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: com-trajectory.hh:96
virtual void checkPath() const
Definition: com-trajectory.hh:92
core::Configuration_t end() const
Get the final configuration.
Definition: com-trajectory.hh:90
const pinocchio::value_type length_
Definition: com-trajectory.hh:130
virtual bool impl_compute(core::ConfigurationOut_t result, core::value_type param) const
void init(ComTrajectoryPtr_t self)
Definition: com-trajectory.hh:114
const pinocchio::vector3_t half_acceleration_
Definition: com-trajectory.hh:128
virtual core::PathPtr_t extract(const core::interval_t &subInterval) const
virtual core::PathPtr_t copy() const
Definition: com-trajectory.hh:78
ComTrajectory(const ComTrajectory &path)
Copy constructor.
virtual ~ComTrajectory()
Destructor.
Definition: com-trajectory.hh:45
ComTrajectory(pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length)
Constructor.
static ComTrajectoryPtr_t createCopy(const ComTrajectoryPtr_t &path)
Definition: com-trajectory.hh:66
virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t &) const
Definition: com-trajectory.hh:122
const pinocchio::vector3_t end_
Definition: com-trajectory.hh:126
core::Configuration_t initial() const
Get the initial configuration.
Definition: com-trajectory.hh:87
const pinocchio::vector3_t acceleration_
Definition: com-trajectory.hh:129
const pinocchio::vector3_t initial_
Definition: com-trajectory.hh:125
shared_ptr< ComTrajectory > ComTrajectoryPtr_t
Definition: com-trajectory.hh:31
HPP_PREDEF_CLASS(ComTrajectory)
Definition: algorithm.hh:26