hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
com-rrt-shooter.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_COM_RRT_SHOOTER_HH
20 # define HPP_RBPRM_COM_RRT_SHOOTER_HH
21 
22 # include <hpp/rbprm/config.hh>
25 # include <hpp/core/path.hh>
26 # include <hpp/pinocchio/device.hh>
27 
28 # include <vector>
29 
30 
31 namespace hpp {
32  namespace rbprm {
33  namespace interpolation {
34 
36  {
37  ComRRTShooterFactory(core::PathPtr_t guidePath) : guidePath_(guidePath){}
39  TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath,
40  const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to,
41  const T_TimeDependant& tds, core::ConfigProjectorPtr_t projector) const;
42  core::PathPtr_t guidePath_;
43  };
44 
46  {
47  EffectorRRTShooterFactory(core::PathPtr_t guidePath) : guidePath_(guidePath){}
49  TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath,
50  const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to,
51  const T_TimeDependant& tds, core::ConfigProjectorPtr_t projector) const;
52  core::PathPtr_t guidePath_;
53  };
55  } // namespace interpolation
56  } // namespace rbprm
57 } // namespace hpp
58 
59 #endif // HPP_RBPRM_COM_RRT_SHOOTER_HH
rbprm-fullbody.hh
hpp::rbprm::interpolation::EffectorRRTShooterFactory
Definition: com-rrt-shooter.hh:45
hpp::rbprm::interpolation::T_TimeDependant
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:75
hpp::rbprm::interpolation::ComRRTShooterFactory
Definition: com-rrt-shooter.hh:35
hpp::rbprm::interpolation::ComRRTShooterFactory::ComRRTShooterFactory
ComRRTShooterFactory(core::PathPtr_t guidePath)
Definition: com-rrt-shooter.hh:37
time-constraint-shooter.hh
hpp
Definition: algorithm.hh:27
hpp::rbprm::interpolation::EffectorRRTShooterFactory::guidePath_
core::PathPtr_t guidePath_
Definition: com-rrt-shooter.hh:52
hpp::rbprm::interpolation::EffectorRRTShooterFactory::operator()
TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector) const
hpp::rbprm::interpolation::ComRRTShooterFactory::~ComRRTShooterFactory
~ComRRTShooterFactory()
Definition: com-rrt-shooter.hh:38
hpp::rbprm::interpolation::ComRRTShooterFactory::operator()
TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, const std::size_t pathDofRank, const hpp::rbprm::State &from, const hpp::rbprm::State &to, const T_TimeDependant &tds, core::ConfigProjectorPtr_t projector) const
hpp::rbprm::interpolation::EffectorRRTShooterFactory::~EffectorRRTShooterFactory
~EffectorRRTShooterFactory()
Definition: com-rrt-shooter.hh:48
hpp::rbprm::interpolation::EffectorRRTShooterFactory::EffectorRRTShooterFactory
EffectorRRTShooterFactory(core::PathPtr_t guidePath)
Definition: com-rrt-shooter.hh:47
hpp::rbprm::State
Definition: rbprm-state.hh:40
hpp::rbprm::RbPrmFullBodyPtr_t
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
hpp::rbprm::interpolation::TimeConstraintShooterPtr_t
boost::shared_ptr< TimeConstraintShooter > TimeConstraintShooterPtr_t
Definition: time-constraint-shooter.hh:38
hpp::rbprm::interpolation::ComRRTShooterFactory::guidePath_
core::PathPtr_t guidePath_
Definition: com-rrt-shooter.hh:42
config.hh