hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_COM_TRAJECTORY_HH
20 # define HPP_RBPRM_COM_TRAJECTORY_HH
22 # include <hpp/core/fwd.hh>
23 # include <hpp/core/config.hh>
24 # include <hpp/core/path.hh>
29 namespace interpolation {
31 typedef boost::shared_ptr <ComTrajectory>
54 pinocchio::vector3_t end,
55 pinocchio::vector3_t initSpeed,
56 pinocchio::vector3_t acceleration,
57 core::value_type length)
81 virtual core::PathPtr_t
copy ()
const
83 return createCopy (weak_.lock ());
90 virtual core::PathPtr_t extract (
const core::interval_t& subInterval)
const
91 throw (core::projection_error);
100 core::Configuration_t
end ()
const
109 virtual std::ostream&
print (std::ostream &os)
const
111 os <<
"ComTrajectory:" << std::endl;
112 os <<
"interval: [ " << timeRange ().first <<
", "
113 << timeRange ().second <<
" ]" << std::endl;
114 os <<
"initial configuration: " << initial_ << std::endl;
115 os <<
"final configuration: " << end_ << std::endl;
116 os <<
"init speed: " << initSpeed_ << std::endl;
117 os <<
"acceleration (constant): " << (acceleration_) << std::endl;
122 pinocchio::vector3_t end,
123 pinocchio::vector3_t initSpeed,
124 pinocchio::vector3_t acceleration,
125 core::value_type length);
132 parent_t::init (
self);
136 virtual bool impl_compute (core::ConfigurationOut_t result,
137 core::value_type param)
const;
139 virtual core::PathPtr_t
copy(
const core::ConstraintSetPtr_t&)
const {
throw;}
143 const pinocchio::vector3_t
end_;
150 ComTrajectoryWkPtr_t weak_;
155 #endif // HPP_RBPRM_COM_TRAJECTORY_HH
static ComTrajectoryPtr_t createCopy(const ComTrajectoryPtr_t &path)
Definition: com-trajectory.hh:68
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: com-trajectory.hh:109
Definition: com-trajectory.hh:42
void init(ComTrajectoryPtr_t self)
Definition: com-trajectory.hh:130
const pinocchio::vector3_t initSpeed_
Definition: com-trajectory.hh:144
virtual void checkPath() const
Definition: com-trajectory.hh:105
core::Configuration_t initial() const
Get the initial configuration.
Definition: com-trajectory.hh:94
const pinocchio::vector3_t half_acceleration_
Definition: com-trajectory.hh:145
core::Configuration_t end() const
Get the final configuration.
Definition: com-trajectory.hh:100
static ComTrajectoryPtr_t create(pinocchio::vector3_t init, pinocchio::vector3_t end, pinocchio::vector3_t initSpeed, pinocchio::vector3_t acceleration, core::value_type length)
Definition: com-trajectory.hh:53
const pinocchio::value_type length_
Definition: com-trajectory.hh:147
virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t &) const
Definition: com-trajectory.hh:139
virtual ~ComTrajectory()
Destructor.
Definition: com-trajectory.hh:47
Definition: algorithm.hh:27
boost::shared_ptr< ComTrajectory > ComTrajectoryPtr_t
Definition: com-trajectory.hh:32
const pinocchio::vector3_t acceleration_
Definition: com-trajectory.hh:146
const pinocchio::vector3_t initial_
Definition: com-trajectory.hh:142
Path parent_t
Definition: com-trajectory.hh:45
const pinocchio::vector3_t end_
Definition: com-trajectory.hh:143
virtual core::PathPtr_t copy() const
Definition: com-trajectory.hh:81
HPP_PREDEF_CLASS(ComTrajectory)