hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
|
Go to the documentation of this file.
19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
20 # define HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
31 # include <hpp/core/problem.hh>
32 # include <hpp/core/config-projector.hh>
41 namespace interpolation {
43 template<
class Helper_T>
47 helper.fullBodyDevice_, 0.05,helper.fullBodyDevice_->configSize()-1);
48 helper.rootProblem_->pathValidation(pathVal);
51 template<
class Helper_T>
54 core::Configuration_t config(helper.fullBodyDevice_->currentConfiguration());
56 config[config.rows()-1] = time;
57 return core::ConfigurationPtr_t(
new core::Configuration_t(config));
63 const core::value_type y = configuration[pathDofRank];
65 cit != tds.end (); ++cit)
67 (*cit)(y, configuration);
73 #endif // HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
void SetPathValidation(Helper_T &helper)
Definition: time-constraint-utils.hh:44
static TimeConstraintPathValidationPtr_t create(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
void UpdateConstraints(core::ConfigurationOut_t configuration, const T_TimeDependant &tds, const std::size_t pathDofRank)
Definition: time-constraint-utils.hh:60
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:75
T_TimeDependant::const_iterator CIT_TimeDependant
Definition: time-dependant.hh:76
boost::shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:29
Definition: algorithm.hh:27
Definition: rbprm-state.hh:40
core::ConfigurationPtr_t TimeConfigFromDevice(const Helper_T &helper, const State &state, const double time)
Definition: time-constraint-utils.hh:52
hpp::pinocchio::Configuration_t configuration_
Definition: rbprm-state.hh:109