#include <hpp/rbprm/planner/rbprm-steering-kinodynamic.hh>
◆ SteeringMethodKinodynamic() [1/2]
hpp::rbprm::SteeringMethodKinodynamic::SteeringMethodKinodynamic |
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const core::Problem & |
problem | ) |
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protected |
◆ SteeringMethodKinodynamic() [2/2]
◆ computeDirection()
computeDirection compute the direction that the steering method will choose in order to connect from to to
- Parameters
-
- Returns
◆ copy()
virtual core::SteeringMethodPtr_t hpp::rbprm::SteeringMethodKinodynamic::copy |
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const |
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inlinevirtual |
Copy instance and return shared pointer.
◆ create()
Create an instance.
References init().
◆ createCopy()
Copy instance and return shared pointer.
References init().
◆ impl_compute() [1/3]
create a path between two configurations
◆ impl_compute() [2/3]
core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::impl_compute |
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core::NodePtr_t |
x, |
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core::ConfigurationIn_t |
q2 |
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) |
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◆ impl_compute() [3/3]
core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::impl_compute |
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core::ConfigurationIn_t |
q1, |
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core::NodePtr_t |
x |
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) |
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◆ init()
void hpp::rbprm::SteeringMethodKinodynamic::init |
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SteeringMethodKinodynamicWkPtr_t |
weak | ) |
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inlineprotected |
◆ operator()() [1/2]
core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::operator() |
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core::ConfigurationIn_t |
q1, |
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const core::NodePtr_t |
x |
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) |
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inline |
◆ operator()() [2/2]
core::PathPtr_t hpp::rbprm::SteeringMethodKinodynamic::operator() |
( |
const core::NodePtr_t |
x, |
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core::ConfigurationIn_t |
q2 |
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) |
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inline |
◆ setSteeringMethodBounds()
setSteeringMethodBounds Compute the maximal acceleration on a direction from near to target, and send it to the steering method
- Parameters
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near | the node from where we take the the information about contact and position |
target | the target configuration |
reverse | if true, we compute the acceleration from target to near, with the information from near |
- Returns
- the node casted from near
◆ dirTotal_
int hpp::rbprm::SteeringMethodKinodynamic::dirTotal_ |
◆ dirValid_
int hpp::rbprm::SteeringMethodKinodynamic::dirValid_ |
◆ maxLength_
const double hpp::rbprm::SteeringMethodKinodynamic::maxLength_ |
◆ rejectedPath_
int hpp::rbprm::SteeringMethodKinodynamic::rejectedPath_ |
◆ totalTimeComputed_
double hpp::rbprm::SteeringMethodKinodynamic::totalTimeComputed_ |
◆ totalTimeValidated_
double hpp::rbprm::SteeringMethodKinodynamic::totalTimeValidated_ |