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template<class Helper_T , class ShooterFactory_T , typename ConstraintFactory_T , typename StateConstIterator > |
core::PathPtr_t HPP_RBPRM_DLLAPI | hpp::rbprm::interpolation::interpolateStates (RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, const StateConstIterator &startState, const StateConstIterator &endState, const std::size_t numOptimizations=10, const bool keepExtraDof=false, const pinocchio::value_type error_treshold=0.001, const size_t maxIterations=0) |
| Runs the LimbRRT to create a kinematic, continuous, collision free path between an ordered State contrainer (Between each consecutive state, only one effector position differs between the states). More...
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template<class Helper_T , class ShooterFactory_T , typename ConstraintFactory_T > |
core::PathPtr_t HPP_RBPRM_DLLAPI | hpp::rbprm::interpolation::interpolateStatesFromPath (RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, const core::PathPtr_t refPath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations=10, const bool keepExtraDof=false, const pinocchio::value_type error_treshold=0.001, const size_t maxIterations=0) |
| Runs the LimbRRT to create a kinematic, continuous, collision free path between an ordered State contrainer (Between each consecutive state, only one effector position differs between the states). More...
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