20 #ifndef HPP_RBPRM_TIMED_PARABOLA_PATH_HH 21 #define HPP_RBPRM_TIMED_PARABOLA_PATH_HH 51 static TimedParabolaPathPtr_t
create (
const core::DevicePtr_t&
device,
52 core::ConfigurationIn_t
init,
53 core::ConfigurationIn_t
end,
57 TimedParabolaPathPtr_t shPtr (ptr);
66 static TimedParabolaPathPtr_t
create (
const core::DevicePtr_t&
device,
67 core::ConfigurationIn_t
init,
68 core::ConfigurationIn_t
end,
74 TimedParabolaPathPtr_t shPtr (ptr);
85 static TimedParabolaPathPtr_t
create(
const core::DevicePtr_t&
device,
86 core::ConfigurationIn_t
init,
87 core::ConfigurationIn_t
end,
90 core::vector_t V0, core::vector_t Vimp,
91 std::vector <std::string> initialROMnames,
92 std::vector <std::string> endROMnames)
95 coefficients, V0, Vimp,
96 initialROMnames, endROMnames);
97 TimedParabolaPathPtr_t shPtr (ptr);
104 static TimedParabolaPathPtr_t
createCopy (
const TimedParabolaPathPtr_t& path)
107 TimedParabolaPathPtr_t shPtr (ptr);
117 (
const TimedParabolaPathPtr_t& path,
const core::ConstraintSetPtr_t& )
121 TimedParabolaPathPtr_t shPtr (ptr);
130 virtual core::PathPtr_t
copy ()
const 139 virtual core::PathPtr_t
copy (
const core::ConstraintSetPtr_t& constraints)
const 141 return createCopy (weak_.lock (), constraints);
148 virtual core::PathPtr_t
extract (
const core::interval_t& subInterval)
const throw (core::projection_error);
152 virtual core::PathPtr_t
reverse ()
const;
161 assert (initial.size () == initial_.size ());
171 assert (end.size () == end_.size ());
176 core::DevicePtr_t
device ()
const;
185 core::Configuration_t
end ()
const 191 virtual core::value_type
length ()
const {
198 core::ConfigurationIn_t
init,
203 core::ConfigurationIn_t init,
204 core::ConfigurationIn_t end, core::value_type
length,
209 core::ConfigurationIn_t init,
210 core::ConfigurationIn_t end,
211 core::value_type length,
212 core::vector_t coefs,
213 core::vector_t V0, core::vector_t Vimp,
214 std::vector <std::string> initialROMnames,
215 std::vector <std::string> endROMnames);
221 void init (TimedParabolaPathPtr_t
self)
228 virtual bool impl_compute (core::ConfigurationOut_t result,
229 core::value_type t)
const;
235 virtual std::ostream&
print (std::ostream &os)
const 237 os <<
"TimedParabolaPath:" << std::endl;
238 os <<
"interval: [ " << timeRange ().first <<
", " 239 << timeRange ().second <<
" ]" << std::endl;
240 os <<
"initial configuration: " << initial_.transpose () << std::endl;
241 os <<
"final configuration: " << end_.transpose () << std::endl;
246 core::DevicePtr_t device_;
247 core::Configuration_t initial_;
248 core::Configuration_t end_;
249 TimedParabolaPathWkPtr_t weak_;
251 mutable core::value_type length_;
259 #endif // HPP_RBPRM_TIMED_PARABOLA_PATH_HH void init(TimedParabolaPathPtr_t self)
Definition: timed-parabola-path.hh:221
static TimedParabolaPathPtr_t create(const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, ParabolaPathPtr_t parabolaPath)
Definition: timed-parabola-path.hh:51
static TimedParabolaPathPtr_t create(const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients)
Definition: timed-parabola-path.hh:66
core::Configuration_t end() const
Get the final configuration.
Definition: timed-parabola-path.hh:185
Definition: algorithm.hh:27
core::Configuration_t initial() const
Get the initial configuration.
Definition: timed-parabola-path.hh:179
Definition: parabola-path.hh:45
static TimedParabolaPathPtr_t create(const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients, core::vector_t V0, core::vector_t Vimp, std::vector< std::string > initialROMnames, std::vector< std::string > endROMnames)
Definition: timed-parabola-path.hh:85
TimedParabolaPath(const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, ParabolaPathPtr_t parabolaPath)
Constructor.
boost::shared_ptr< TimedParabolaPath > TimedParabolaPathPtr_t
Definition: timed-parabola-path.hh:34
void initialConfig(core::ConfigurationIn_t initial)
Definition: timed-parabola-path.hh:159
static TimedParabolaPathPtr_t createCopy(const TimedParabolaPathPtr_t &path)
Definition: timed-parabola-path.hh:104
virtual core::PathPtr_t copy() const
Definition: timed-parabola-path.hh:130
virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t &constraints) const
Definition: timed-parabola-path.hh:139
HPP_PREDEF_CLASS(RbPrmFullBody)
void init(ParabolaPathPtr_t self)
Definition: parabola-path.hh:245
void endConfig(core::ConfigurationIn_t end)
Definition: timed-parabola-path.hh:169
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: timed-parabola-path.hh:235
Definition: timed-parabola-path.hh:40
virtual double computeTimedLength(double x_theta, double v0, double alpha0)
virtual core::PathPtr_t extract(const core::interval_t &subInterval) const
core::DevicePtr_t device() const
Return the internal robot.
virtual ~TimedParabolaPath()
Destructor.
Definition: timed-parabola-path.hh:45
core::vector_t coefficients() const
Get path coefficients.
Definition: parabola-path.hh:192
virtual core::PathPtr_t reverse() const
virtual core::value_type length() const
Get previously computed length.
Definition: timed-parabola-path.hh:191
virtual bool impl_compute(core::ConfigurationOut_t result, core::value_type t) const
Param is the time.
ParabolaPath parent_t
Definition: timed-parabola-path.hh:43
boost::shared_ptr< ParabolaPath > ParabolaPathPtr_t
Definition: parabola-path.hh:33