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

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

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simple-time-parameterization.hh
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1// Copyright (c) 2017, Joseph Mirabel
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
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16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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28
29#ifndef HPP_CORE_PATH_OPTIMIZATION_SIMPLE_TIME_PARAMETERIZATION_HH
30#define HPP_CORE_PATH_OPTIMIZATION_SIMPLE_TIME_PARAMETERIZATION_HH
31
32#include <hpp/core/path-optimizer.hh>
33
34namespace hpp {
35namespace core {
36namespace pathOptimization {
39
185 class HPP_CORE_DLLAPI SimpleTimeParameterization : public PathOptimizer {
186 public:
188 static SimpleTimeParameterizationPtr_t create(
189 const ProblemConstPtr_t& problem);
190
192 virtual PathVectorPtr_t optimize(const PathVectorPtr_t& path);
193
195 value_type safety;
197 size_type order;
200 value_type maxAcceleration;
201
202 protected:
203 SimpleTimeParameterization(const ProblemConstPtr_t& problem);
204}; // class SimpleTimeParameterization
206} // namespace pathOptimization
207} // namespace core
208} // namespace hpp
209#endif // HPP_CORE_PATH_OPTIMIZATION_SIMPLE_TIME_PARAMETERIZATION_HH
hpp::core::PathOptimizer
Definition path-optimizer.hh:44
hpp::core::pathOptimization::SimpleTimeParameterization
Definition simple-time-parameterization.hh:185
hpp::core::pathOptimization::SimpleTimeParameterization::order
size_type order
The desired continuity order (0, 1, or 2).
Definition simple-time-parameterization.hh:197
hpp::core::pathOptimization::SimpleTimeParameterization::create
static SimpleTimeParameterizationPtr_t create(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
hpp::core::pathOptimization::SimpleTimeParameterization::optimize
virtual PathVectorPtr_t optimize(const PathVectorPtr_t &path)
Optimize path.
hpp::core::pathOptimization::SimpleTimeParameterization::safety
value_type safety
A scaling factor for the velocity bounds.
Definition simple-time-parameterization.hh:195
hpp::core::pathOptimization::SimpleTimeParameterization::SimpleTimeParameterization
SimpleTimeParameterization(const ProblemConstPtr_t &problem)
hpp::core::pathOptimization::SimpleTimeParameterization::maxAcceleration
value_type maxAcceleration
Definition simple-time-parameterization.hh:200
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::pathOptimization::SimpleTimeParameterizationPtr_t
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition fwd.hh:305
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::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
path-optimizer.hh