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

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

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progressive.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
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27// DAMAGE.
28
29#ifndef HPP_CORE_PATHPROJECTOR_PROGRESSIVE_HH
30#define HPP_CORE_PATHPROJECTOR_PROGRESSIVE_HH
31
32#include <hpp/core/path-projector.hh>
33
34namespace hpp {
35namespace core {
36namespace pathProjector {
37 class HPP_CORE_DLLAPI Progressive : public PathProjector {
38 public:
39 typedef hpp::core::StraightPath StraightPath;
40 typedef hpp::core::StraightPathPtr_t StraightPathPtr_t;
41
43 static ProgressivePtr_t create(const DistancePtr_t& distance,
44 const SteeringMethodPtr_t& steeringMethod,
45 value_type step);
46
47 static ProgressivePtr_t create(const ProblemConstPtr_t& problem,
48 const value_type& step);
49
50 protected:
51 bool impl_apply(const PathPtr_t& path, PathPtr_t& projection) const;
52
53 Progressive(const DistancePtr_t& distance,
54 const SteeringMethodPtr_t& steeringMethod, value_type step,
55 value_type threshold, value_type hessianBound);
56
57 bool project(const PathPtr_t& path, PathPtr_t& proj) const;
58
59 private:
60 value_type step_;
61 const value_type thresholdMin_;
62 const value_type hessianBound_;
63 const bool withHessianBound_;
64};
65} // namespace pathProjector
66} // namespace core
67} // namespace hpp
68
69#endif // HPP_CORE_PATHPROJECTOR_PROGRESSIVE_HH
hpp::core::PathProjector
This class projects a path using constraints.
Definition path-projector.hh:38
hpp::core::PathProjector::PathPtr_t
hpp::core::PathPtr_t PathPtr_t
Definition path-projector.hh:41
hpp::core::StraightPath
Definition straight-path.hh:52
hpp::core::pathProjector::Progressive
Definition progressive.hh:37
hpp::core::pathProjector::Progressive::Progressive
Progressive(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step, value_type threshold, value_type hessianBound)
hpp::core::pathProjector::Progressive::impl_apply
bool impl_apply(const PathPtr_t &path, PathPtr_t &projection) const
Method to be reimplemented by inherited class.
hpp::core::pathProjector::Progressive::create
static ProgressivePtr_t create(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step)
hpp::core::pathProjector::Progressive::project
bool project(const PathPtr_t &path, PathPtr_t &proj) const
hpp::core::pathProjector::Progressive::StraightPath
hpp::core::StraightPath StraightPath
Definition progressive.hh:39
hpp::core::pathProjector::Progressive::create
static ProgressivePtr_t create(const ProblemConstPtr_t &problem, const value_type &step)
hpp::core::pathProjector::Progressive::StraightPathPtr_t
hpp::core::StraightPathPtr_t StraightPathPtr_t
Definition progressive.hh:40
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::pathProjector::ProgressivePtr_t
shared_ptr< Progressive > ProgressivePtr_t
Definition fwd.hh:343
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::StraightPathPtr_t
shared_ptr< StraightPath > StraightPathPtr_t
Definition fwd.hh:200
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::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
path-projector.hh