19 #ifndef HPP_RBPRM_COM_RRT_HH 20 # define HPP_RBPRM_COM_RRT_HH 30 # include <hpp/core/path.hh> 31 # include <hpp/core/problem.hh> 32 # include <hpp/core/config-projector.hh> 40 namespace interpolation {
51 const State &startState,
const State &nextState,
52 const std::size_t numOptimizations,
53 const bool keepExtraDof=
false);
56 const State &startState,
const State &nextState,
57 const std::size_t numOptimizations,
58 const bool keepExtraDof=
false);
62 const std::size_t numOptimizations);
73 #endif // HPP_RBPRM_COM_RRT_HH
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)
Definition: algorithm.hh:27
core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > ComRRTHelper
Definition: com-rrt.hh:42
core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
void operator()(ComRRTHelper &helper, const State &from, const State &to) const
Definition: com-rrt.hh:45
Definition: rbprm-state.hh:40
Definition: time-constraint-helper.hh:47