hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
20 # define HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
25 # include <hpp/core/config-projector.hh>
26 # include <hpp/core/configuration-shooter.hh>
27 # include <hpp/core/path.hh>
28 # include <hpp/pinocchio/device.hh>
35 namespace interpolation {
37 typedef boost::shared_ptr <TimeConstraintShooter>
55 const hpp::core::PathPtr_t rootPath,
56 const std::size_t pathDofRank,
58 core::ConfigProjectorPtr_t projector,
69 TimeConstraintShooterWkPtr_t weak_;
78 const hpp::core::PathPtr_t rootPath,
79 const std::size_t pathDofRank,
81 core::ConfigProjectorPtr_t projector,
86 virtual void impl_shoot (core::Configuration_t& q)
const;
93 #endif // HPP_RBPRM_TIME_CONSTRAINT_SHOOTER_HH
Definition: time-constraint-shooter.hh:45
core::ConfigProjectorPtr_t projector_
Definition: time-constraint-shooter.hh:73
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:75
const hpp::core::PathPtr_t rootPath_
Definition: time-constraint-shooter.hh:62
T_TimeDependant tds_
Definition: time-constraint-shooter.hh:72
std::map< std::string, const rbprm::RbPrmLimbPtr_t > T_Limb
Definition: rbprm-limb.hh:45
Definition: algorithm.hh:27
const core::DevicePtr_t device_
Definition: time-constraint-shooter.hh:65
const std::size_t pathDofRank_
Definition: time-constraint-shooter.hh:63
const std::size_t configSize_
Definition: time-constraint-shooter.hh:64
boost::shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:38
const rbprm::T_Limb freeLimbs_
Definition: time-constraint-shooter.hh:66
HPP_PREDEF_CLASS(ComTrajectory)
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64