Bezier curve representation between two configurations. More...
Classes | |
class | hpp::rbprm::BezierPath |
Typedefs | |
typedef Path | hpp::rbprm::BezierPath::parent_t |
Functions | |
virtual | hpp::rbprm::BezierPath::~BezierPath () throw () |
Destructor. More... | |
static BezierPathPtr_t | hpp::rbprm::BezierPath::create (const core::DevicePtr_t &device, const bezier_Ptr &curve, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange) |
Create instance and return shared pointer. More... | |
static BezierPathPtr_t | hpp::rbprm::BezierPath::create (const core::DevicePtr_t &device, std::vector< bezier_t::point_t >::const_iterator wpBegin, std::vector< bezier_t::point_t >::const_iterator wpEnd, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange) |
Create instance and return shared pointer. More... | |
static BezierPathPtr_t | hpp::rbprm::BezierPath::createCopy (const BezierPathPtr_t &path) |
Create copy and return shared pointer. More... | |
static BezierPathPtr_t | hpp::rbprm::BezierPath::createCopy (const BezierPathPtr_t &path, const core::ConstraintSetPtr_t &constraints) |
Create copy and return shared pointer. More... | |
virtual core::PathPtr_t | hpp::rbprm::BezierPath::copy () const |
Return a shared pointer to this. More... | |
virtual core::PathPtr_t | hpp::rbprm::BezierPath::copy (const core::ConstraintSetPtr_t &constraints) const |
Return a shared pointer to a copy of this and set constraints. More... | |
virtual core::Configuration_t | hpp::rbprm::BezierPath::initial () const |
Get the initial configuration. More... | |
virtual core::Configuration_t | hpp::rbprm::BezierPath::end () const |
Get the final configuration. More... | |
core::Configuration_t | hpp::rbprm::BezierPath::operator() (const core::value_type &t) const |
bezier_Ptr | hpp::rbprm::BezierPath::getBezier () |
bezier_t::t_point_t | hpp::rbprm::BezierPath::getWaypoints () |
virtual std::ostream & | hpp::rbprm::BezierPath::print (std::ostream &os) const |
Print path in a stream. More... | |
hpp::rbprm::BezierPath::BezierPath (const core::DevicePtr_t &robot, const bezier_Ptr &curve, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange) | |
constructor with curve More... | |
hpp::rbprm::BezierPath::BezierPath (const core::DevicePtr_t &robot, std::vector< bezier_t::point_t >::const_iterator wpBegin, std::vector< bezier_t::point_t >::const_iterator wpEnd, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::interval_t timeRange) | |
constructor with waypoints More... | |
hpp::rbprm::BezierPath::BezierPath (const BezierPath &path) | |
Copy constructor. More... | |
hpp::rbprm::BezierPath::BezierPath (const BezierPath &path, const core::ConstraintSetPtr_t &constraints) | |
Copy constructor with constraints. More... | |
void | hpp::rbprm::BezierPath::init (BezierPathPtr_t self) |
void | hpp::rbprm::BezierPath::initCopy (BezierPathPtr_t self) |
virtual bool | hpp::rbprm::BezierPath::impl_compute (core::ConfigurationOut_t result, core::value_type param) const |
Bezier curve representation between two configurations.
This class only implement the bezier curve of dimension 3, need to template the dimension of the points Use the Bezier curve for the translation of the root and standard linear interpolation for the other DoF
typedef Path hpp::rbprm::BezierPath::parent_t |
|
protected |
constructor with curve
Referenced by hpp::rbprm::BezierPath::create(), hpp::rbprm::BezierPath::createCopy(), and hpp::rbprm::BezierPath::print().
|
protected |
constructor with waypoints
|
protected |
Copy constructor.
|
protected |
Copy constructor with constraints.
|
inlinevirtual |
Return a shared pointer to this.
As BezierPath are immutable, and refered to by shared pointers, they do not need to be copied.
References hpp::rbprm::BezierPath::createCopy().
|
inlinevirtual |
Return a shared pointer to a copy of this and set constraints.
constraints | constraints to apply to the copy *this should not have constraints. |
References hpp::rbprm::BezierPath::createCopy(), hpp::rbprm::BezierPath::end(), and hpp::rbprm::BezierPath::initial().
|
inlinestatic |
Create instance and return shared pointer.
device | Robot corresponding to configurations |
curve | the curve that define this path |
timeRange | : the time definition of the curve. |
References hpp::rbprm::BezierPath::BezierPath(), and hpp::rbprm::BezierPath::init().
|
inlinestatic |
Create instance and return shared pointer.
device | Robot corresponding to configurations |
wpBegin | iterator to the first waypoint |
wpEnd | iterator to the last wp |
length | Distance between the configurations. |
References hpp::rbprm::BezierPath::BezierPath(), and hpp::rbprm::BezierPath::init().
|
inlinestatic |
Create copy and return shared pointer.
path | path to copy |
References hpp::rbprm::BezierPath::BezierPath(), and hpp::rbprm::BezierPath::initCopy().
Referenced by hpp::rbprm::BezierPath::copy().
|
inlinestatic |
Create copy and return shared pointer.
path | path to copy |
constraints | the path is subject to |
References hpp::rbprm::BezierPath::BezierPath(), and hpp::rbprm::BezierPath::initCopy().
|
virtual |
Get the final configuration.
Referenced by hpp::rbprm::BezierPath::copy(), and hpp::rbprm::BezierPath::print().
|
inline |
|
inline |
|
protectedvirtual |
Referenced by hpp::rbprm::BezierPath::initCopy(), and hpp::rbprm::BezierPath::operator()().
|
inlineprotected |
Referenced by hpp::rbprm::BezierPath::create(), and hpp::rbprm::BezierPath::print().
|
inlineprotected |
References hpp::rbprm::BezierPath::impl_compute().
Referenced by hpp::rbprm::BezierPath::createCopy().
|
virtual |
Get the initial configuration.
Referenced by hpp::rbprm::BezierPath::copy(), and hpp::rbprm::BezierPath::print().
|
inline |
References hpp::rbprm::BezierPath::impl_compute().
|
inlineprotectedvirtual |
Print path in a stream.
References hpp::rbprm::BezierPath::BezierPath(), hpp::rbprm::BezierPath::end(), hpp::rbprm::BezierPath::init(), and hpp::rbprm::BezierPath::initial().
|
inlinevirtual |
Destructor.