hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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20 #ifndef HPP_RBPRM_TIMED_PARABOLA_PATH_HH
21 #define HPP_RBPRM_TIMED_PARABOLA_PATH_HH
52 core::ConfigurationIn_t
init,
53 core::ConfigurationIn_t
end,
67 core::ConfigurationIn_t
init,
68 core::ConfigurationIn_t
end,
86 core::ConfigurationIn_t
init,
87 core::ConfigurationIn_t
end,
90 core::vector_t V0, core::vector_t Vimp,
91 std::vector <std::string> initialROMnames,
92 std::vector <std::string> endROMnames)
96 initialROMnames, endROMnames);
130 virtual core::PathPtr_t
copy ()
const
139 virtual core::PathPtr_t
copy (
const core::ConstraintSetPtr_t& constraints)
const
141 return createCopy (weak_.lock (), constraints);
148 virtual core::PathPtr_t
extract (
const core::interval_t& subInterval)
const throw (core::projection_error);
152 virtual core::PathPtr_t
reverse ()
const;
161 assert (
initial.size () == initial_.size ());
171 assert (
end.size () == end_.size ());
176 core::DevicePtr_t
device ()
const;
185 core::Configuration_t
end ()
const
191 virtual core::value_type
length ()
const {
198 core::ConfigurationIn_t
init,
203 core::ConfigurationIn_t
init,
204 core::ConfigurationIn_t
end, core::value_type
length,
209 core::ConfigurationIn_t
init,
210 core::ConfigurationIn_t
end,
212 core::vector_t coefs,
213 core::vector_t V0, core::vector_t Vimp,
214 std::vector <std::string> initialROMnames,
215 std::vector <std::string> endROMnames);
228 virtual bool impl_compute (core::ConfigurationOut_t result,
229 core::value_type t)
const;
235 virtual std::ostream&
print (std::ostream &os)
const
237 os <<
"TimedParabolaPath:" << std::endl;
238 os <<
"interval: [ " << timeRange ().first <<
", "
239 << timeRange ().second <<
" ]" << std::endl;
240 os <<
"initial configuration: " << initial_.transpose () << std::endl;
241 os <<
"final configuration: " << end_.transpose () << std::endl;
246 core::DevicePtr_t device_;
247 core::Configuration_t initial_;
248 core::Configuration_t end_;
249 TimedParabolaPathWkPtr_t weak_;
251 mutable core::value_type length_;
259 #endif // HPP_RBPRM_TIMED_PARABOLA_PATH_HH
virtual core::value_type length() const
Get previously computed length.
Definition: timed-parabola-path.hh:191
void initialConfig(core::ConfigurationIn_t initial)
Definition: timed-parabola-path.hh:159
HPP_PREDEF_CLASS(RbPrmFullBody)
ParabolaPath parent_t
Definition: timed-parabola-path.hh:43
virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t &constraints) const
Definition: timed-parabola-path.hh:139
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: timed-parabola-path.hh:235
static TimedParabolaPathPtr_t create(const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients)
Definition: timed-parabola-path.hh:66
virtual core::PathPtr_t extract(const core::interval_t &subInterval) const
virtual core::PathPtr_t copy() const
Definition: timed-parabola-path.hh:130
virtual double computeTimedLength(double x_theta, double v0, double alpha0)
TimedParabolaPath(const core::DevicePtr_t &robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end, ParabolaPathPtr_t parabolaPath)
Constructor.
core::Configuration_t end() const
Get the final configuration.
Definition: timed-parabola-path.hh:185
Definition: timed-parabola-path.hh:40
static TimedParabolaPathPtr_t create(const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, ParabolaPathPtr_t parabolaPath)
Definition: timed-parabola-path.hh:51
void init(TimedParabolaPathPtr_t self)
Definition: timed-parabola-path.hh:221
core::vector_t coefficients() const
Get path coefficients.
Definition: parabola-path.hh:192
static TimedParabolaPathPtr_t create(const core::DevicePtr_t &device, core::ConfigurationIn_t init, core::ConfigurationIn_t end, core::value_type length, core::vector_t coefficients, core::vector_t V0, core::vector_t Vimp, std::vector< std::string > initialROMnames, std::vector< std::string > endROMnames)
Definition: timed-parabola-path.hh:85
Definition: parabola-path.hh:45
Definition: algorithm.hh:27
core::Configuration_t initial() const
Get the initial configuration.
Definition: timed-parabola-path.hh:179
void endConfig(core::ConfigurationIn_t end)
Definition: timed-parabola-path.hh:169
core::DevicePtr_t device() const
Return the internal robot.
void init(ParabolaPathPtr_t self)
Definition: parabola-path.hh:245
virtual ~TimedParabolaPath()
Destructor.
Definition: timed-parabola-path.hh:45
virtual core::PathPtr_t reverse() const
boost::shared_ptr< ParabolaPath > ParabolaPathPtr_t
Definition: parabola-path.hh:33
static TimedParabolaPathPtr_t createCopy(const TimedParabolaPathPtr_t &path)
Definition: timed-parabola-path.hh:104
boost::shared_ptr< TimedParabolaPath > TimedParabolaPathPtr_t
Definition: timed-parabola-path.hh:34
virtual bool impl_compute(core::ConfigurationOut_t result, core::value_type t) const
Param is the time.