hpp-core: include/hpp/core/path-projector.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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path-projector.hh
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1// Copyright (c) 2014, LAAS-CNRS
2// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_CORE_PATHPROJECTOR_HH
30#define HPP_CORE_PATHPROJECTOR_HH
31
32#include <hpp/core/config.hh>
33#include <hpp/core/fwd.hh>
34
35namespace hpp {
36namespace core {
38 class HPP_CORE_DLLAPI PathProjector {
39 public:
40 typedef hpp::core::Path Path;
41 typedef hpp::core::PathPtr_t PathPtr_t;
42 typedef hpp::core::PathVector PathVector;
43 typedef hpp::core::PathVectorPtr_t PathVectorPtr_t;
44
46 virtual ~PathProjector();
47
52 bool apply(const PathPtr_t& path, PathPtr_t& projection) const;
53
54 protected:
62 PathProjector(const DistancePtr_t& distance,
63 const SteeringMethodPtr_t& steeringMethod,
64 bool keepSteeringMethodConstraints = false);
65
67 virtual bool impl_apply(const PathPtr_t& path,
68 PathPtr_t& projection) const = 0;
69
70 value_type d(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
71 PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const;
72 SteeringMethodPtr_t steeringMethod_;
73
74 private:
75 DistancePtr_t distance_;
76};
77} // namespace core
78} // namespace hpp
79
80#endif // HPP_CORE_PATHPROJECTOR_HH
hpp::core::PathProjector
This class projects a path using constraints.
Definition path-projector.hh:38
hpp::core::PathProjector::PathProjector
PathProjector(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, bool keepSteeringMethodConstraints=false)
hpp::core::PathProjector::PathVector
hpp::core::PathVector PathVector
Definition path-projector.hh:42
hpp::core::PathProjector::~PathProjector
virtual ~PathProjector()
Destructor.
hpp::core::PathProjector::Path
hpp::core::Path Path
Definition path-projector.hh:40
hpp::core::PathProjector::steeringMethod_
SteeringMethodPtr_t steeringMethod_
Definition path-projector.hh:72
hpp::core::PathProjector::steer
PathPtr_t steer(ConfigurationIn_t q1, ConfigurationIn_t q2) const
hpp::core::PathProjector::PathPtr_t
hpp::core::PathPtr_t PathPtr_t
Definition path-projector.hh:41
hpp::core::PathProjector::d
value_type d(ConfigurationIn_t q1, ConfigurationIn_t q2) const
hpp::core::PathProjector::impl_apply
virtual bool impl_apply(const PathPtr_t &path, PathPtr_t &projection) const =0
Method to be reimplemented by inherited class.
hpp::core::PathProjector::apply
bool apply(const PathPtr_t &path, PathPtr_t &projection) const
hpp::core::PathProjector::PathVectorPtr_t
hpp::core::PathVectorPtr_t PathVectorPtr_t
Definition path-projector.hh:43
hpp::core::PathVector
Concatenation of several paths.
Definition path-vector.hh:43
hpp::core::Path
Definition path.hh:71
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
Definition fwd.hh:141
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition fwd.hh:213
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187