hpp-core: include/hpp/core/path-optimization/rs-time-parameterization.hh Source File

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

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rs-time-parameterization.hh
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1//
2// Copyright (c) 2019 - 2024 CNRS
3//
4// Author: Florent Lamiraux
5//
6
7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
9// met:
10//
11// 1. Redistributions of source code must retain the above copyright
12// notice, this list of conditions and the following disclaimer.
13//
14// 2. Redistributions in binary form must reproduce the above copyright
15// notice, this list of conditions and the following disclaimer in the
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19// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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30
31#ifndef HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH
32#define HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH
33
34#include <hpp/core/path-optimizer.hh>
35#include <hpp/core/steering-method/constant-curvature.hh>
36
37namespace hpp {
38namespace core {
39namespace pathOptimization {
44 class HPP_CORE_DLLAPI RSTimeParameterization : public PathOptimizer {
45 public:
47 static RSTimeParameterizationPtr_t create(const ProblemConstPtr_t& problem);
57 virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
58
59 protected:
67 RSTimeParameterization(const ProblemConstPtr_t& problem)
68 : PathOptimizer(problem) {}
69}; // class ReedsShepp
70
71} // namespace pathOptimization
72} // namespace core
73} // namespace hpp
74#endif // HPP_CORE_PATH_OPTIMIZATION_RS_TIME_PARAMETERIZATION_HH
hpp::core::PathOptimizer
Definition path-optimizer.hh:44
hpp::core::pathOptimization::RSTimeParameterization
Definition rs-time-parameterization.hh:44
hpp::core::pathOptimization::RSTimeParameterization::create
static RSTimeParameterizationPtr_t create(const ProblemConstPtr_t &problem)
Create instance and return shared pointer.
hpp::core::pathOptimization::RSTimeParameterization::optimize
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)
hpp::core::pathOptimization::RSTimeParameterization::RSTimeParameterization
RSTimeParameterization(const ProblemConstPtr_t &problem)
Definition rs-time-parameterization.hh:67
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
constant-curvature.hh
hpp
hpp::core::pathOptimization::RSTimeParameterizationPtr_t
shared_ptr< RSTimeParameterization > RSTimeParameterizationPtr_t
Definition fwd.hh:303
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
path-optimizer.hh