hpp-core: include/hpp/core/configuration-shooter/gaussian.hh Source File

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

Loading...
Searching...
No Matches
gaussian.hh
Go to the documentation of this file.
1//
2// Copyright (c) 2018 CNRS
3// Authors: Joseph Mirabel
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_CONFIGURATION_SHOOTER_GAUSSIAN_HH
31#define HPP_CORE_CONFIGURATION_SHOOTER_GAUSSIAN_HH
32
33#include <hpp/core/configuration-shooter.hh>
34#include <hpp/pinocchio/device.hh>
35#include <sstream>
36
37namespace hpp {
38namespace core {
39 namespace configurationShooter {
42
45 class HPP_CORE_DLLAPI Gaussian : public ConfigurationShooter {
46 public:
47 static GaussianPtr_t create(const DevicePtr_t& robot) {
48 Gaussian* ptr = new Gaussian(robot);
49 GaussianPtr_t shPtr(ptr);
50 ptr->init(shPtr);
51 return shPtr;
52 }
53
54 void center(ConfigurationIn_t c) { center_ = c; }
55 const Configuration_t& center() const { return center_; }
56
65 void sigma(const value_type& factor);
66
67 void sigmas(vectorIn_t s) {
68 assert(s.size() == robot_->numberDof());
69 sigmas_ = s;
70 }
71 const vector_t& sigmas() const { return sigmas_; }
72
73 protected:
77 Gaussian(const DevicePtr_t& robot)
78 : robot_(robot),
79 center_(robot->currentConfiguration()),
80 sigmas_(robot->numberDof()) {
81 sigma(1. / 4.);
82 }
83 void init(const GaussianPtr_t& self) {
84 ConfigurationShooter::init(self);
85 weak_ = self;
86 }
87
88 virtual void impl_shoot(Configuration_t& q) const;
89
90 private:
91 const DevicePtr_t& robot_;
93 Configuration_t center_;
95 vector_t sigmas_;
96
97 GaussianWkPtr_t weak_;
98}; // class Gaussian
100} // namespace configurationShooter
101} // namespace core
102} // namespace hpp
103
104#endif // HPP_CORE_CONFIGURATION_SHOOTER_GAUSSIAN_HH
hpp::core::ConfigurationShooter
Definition configuration-shooter.hh:45
hpp::core::configurationShooter::Gaussian
Definition gaussian.hh:45
hpp::core::configurationShooter::Gaussian::center
void center(ConfigurationIn_t c)
Definition gaussian.hh:54
hpp::core::configurationShooter::Gaussian::center
const Configuration_t & center() const
Definition gaussian.hh:55
hpp::core::configurationShooter::Gaussian::Gaussian
Gaussian(const DevicePtr_t &robot)
Definition gaussian.hh:77
hpp::core::configurationShooter::Gaussian::create
static GaussianPtr_t create(const DevicePtr_t &robot)
Definition gaussian.hh:47
hpp::core::configurationShooter::Gaussian::sigma
void sigma(const value_type &factor)
hpp::core::configurationShooter::Gaussian::impl_shoot
virtual void impl_shoot(Configuration_t &q) const
hpp::core::configurationShooter::Gaussian::init
void init(const GaussianPtr_t &self)
Definition gaussian.hh:83
hpp::core::configurationShooter::Gaussian::sigmas
void sigmas(vectorIn_t s)
Definition gaussian.hh:67
hpp::core::configurationShooter::Gaussian::sigmas
const vector_t & sigmas() const
Definition gaussian.hh:71
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
configuration-shooter.hh
device.hh
hpp
hpp::core::configurationShooter::GaussianPtr_t
shared_ptr< Gaussian > GaussianPtr_t
Definition fwd.hh:368
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::vectorIn_t
pinocchio::vectorIn_t vectorIn_t
Definition fwd.hh:221
hpp::core::vector_t
pinocchio::vector_t vector_t
Definition fwd.hh:220
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134