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

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

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recursive-hermite.hh
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1// Copyright (c) 2016, 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,
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22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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28
29#ifndef HPP_CORE_PATHPROJECTOR_RECURSIVE_HERMITE_HH
30#define HPP_CORE_PATHPROJECTOR_RECURSIVE_HERMITE_HH
31
32#include "hpp/core/config.hh"
33#include "hpp/core/fwd.hh"
34#include "hpp/core/path-projector.hh"
35
36namespace hpp {
37namespace core {
38namespace pathProjector {
42 class HPP_CORE_DLLAPI RecursiveHermite : public PathProjector {
43 public:
44 typedef hpp::core::path::Hermite Hermite;
45 typedef hpp::core::path::HermitePtr_t HermitePtr_t;
46
47 static RecursiveHermitePtr_t create(const DistancePtr_t& distance,
48 const SteeringMethodPtr_t& steeringMethod,
49 value_type step);
50
51 static RecursiveHermitePtr_t create(const ProblemConstPtr_t& problem,
52 const value_type& step);
53
54 protected:
55 bool impl_apply(const PathPtr_t& path, PathPtr_t& projection) const;
56
57 RecursiveHermite(const DistancePtr_t& distance,
58 const SteeringMethodPtr_t& steeringMethod,
59 const value_type& M, const value_type& beta);
60
61 bool project(const PathPtr_t& path, PathPtr_t& proj) const;
62
63 private:
64 bool recurse(const HermitePtr_t& path, PathVectorPtr_t& proj,
65 const value_type& thr) const;
66 value_type M_, beta_;
67};
68} // namespace pathProjector
69} // namespace core
70} // namespace hpp
71
72#endif // HPP_CORE_PATHPROJECTOR_RECURSIVE_HERMITE_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::PathProjector::PathVectorPtr_t
hpp::core::PathVectorPtr_t PathVectorPtr_t
Definition path-projector.hh:43
hpp::core::pathProjector::RecursiveHermite
Definition recursive-hermite.hh:42
hpp::core::pathProjector::RecursiveHermite::impl_apply
bool impl_apply(const PathPtr_t &path, PathPtr_t &projection) const
Method to be reimplemented by inherited class.
hpp::core::pathProjector::RecursiveHermite::RecursiveHermite
RecursiveHermite(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, const value_type &M, const value_type &beta)
hpp::core::pathProjector::RecursiveHermite::Hermite
hpp::core::path::Hermite Hermite
Definition recursive-hermite.hh:44
hpp::core::pathProjector::RecursiveHermite::create
static RecursiveHermitePtr_t create(const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step)
hpp::core::pathProjector::RecursiveHermite::HermitePtr_t
hpp::core::path::HermitePtr_t HermitePtr_t
Definition recursive-hermite.hh:45
hpp::core::pathProjector::RecursiveHermite::project
bool project(const PathPtr_t &path, PathPtr_t &proj) const
hpp::core::pathProjector::RecursiveHermite::create
static RecursiveHermitePtr_t create(const ProblemConstPtr_t &problem, const value_type &step)
hpp::core::path::Hermite
Definition hermite.hh:42
config.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
fwd.hh
hpp
hpp::core::pathProjector::RecursiveHermitePtr_t
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition fwd.hh:345
hpp::core::path::HermitePtr_t
shared_ptr< Hermite > HermitePtr_t
Definition fwd.hh:246
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
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