hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_POLYNOM_TRAJECTORY_HH
20 # define HPP_RBPRM_POLYNOM_TRAJECTORY_HH
22 # include <hpp/core/fwd.hh>
23 # include <hpp/core/config.hh>
24 # include <hpp/core/path.hh>
26 # include <curves/curve_abc.h>
30 namespace interpolation {
32 typedef boost::shared_ptr <PolynomTrajectory>
34 typedef curves::curve_abc<core::value_type, core::value_type, true, Eigen::Vector3d>
Polynom;
57 core::value_type subSetStart = 0,
58 core::value_type subSetEnd = 1)
82 virtual core::PathPtr_t
copy ()
const
84 return createCopy (weak_.lock ());
91 virtual core::PathPtr_t extract (
const core::interval_t& subInterval)
const
92 throw (core::projection_error);
97 return polynom_->operator ()(subSetStart_);
101 core::Configuration_t
end ()
const
103 return polynom_->operator ()(subSetEnd_);
110 virtual std::ostream&
print (std::ostream &os)
const
112 os <<
"PolynomTrajectory:" << std::endl;
113 os <<
"interval: [ " << timeRange ().first <<
", "
114 << timeRange ().second <<
" ]" << std::endl;
115 os <<
"initial configuration: " << initial() << std::endl;
116 os <<
"final configuration: " << end() << std::endl;
121 core::value_type subSetStart,core::value_type subSetEnd);
128 parent_t::init (
self);
132 virtual bool impl_compute (core::ConfigurationOut_t result,
133 core::value_type param)
const;
135 virtual core::PathPtr_t
copy(
const core::ConstraintSetPtr_t&)
const {
throw;}
144 PolynomTrajectoryWkPtr_t weak_;
149 #endif // HPP_RBPRM_POLYNOM_TRAJECTORY_HH
core::Configuration_t end() const
Get the final configuration.
Definition: polynom-trajectory.hh:101
virtual core::PathPtr_t copy() const
Definition: polynom-trajectory.hh:82
Path parent_t
Definition: polynom-trajectory.hh:48
virtual core::PathPtr_t copy(const core::ConstraintSetPtr_t &) const
Definition: polynom-trajectory.hh:135
boost::shared_ptr< Polynom > PolynomPtr_t
Definition: polynom-trajectory.hh:35
const core::value_type subSetEnd_
Definition: polynom-trajectory.hh:140
boost::shared_ptr< PolynomTrajectory > PolynomTrajectoryPtr_t
Definition: polynom-trajectory.hh:33
virtual ~PolynomTrajectory()
Destructor.
Definition: polynom-trajectory.hh:50
curves::curve_abc< core::value_type, core::value_type, true, Eigen::Vector3d > Polynom
Definition: polynom-trajectory.hh:34
Definition: algorithm.hh:27
const core::value_type length_
Definition: polynom-trajectory.hh:141
virtual void checkPath() const
Definition: polynom-trajectory.hh:106
const core::value_type subSetStart_
Definition: polynom-trajectory.hh:139
core::Configuration_t initial() const
Get the initial configuration.
Definition: polynom-trajectory.hh:95
Definition: polynom-trajectory.hh:45
void init(PolynomTrajectoryPtr_t self)
Definition: polynom-trajectory.hh:126
const PolynomPtr_t polynom_
Definition: polynom-trajectory.hh:138
virtual std::ostream & print(std::ostream &os) const
Print path in a stream.
Definition: polynom-trajectory.hh:110
static PolynomTrajectoryPtr_t create(PolynomPtr_t polynom, core::value_type subSetStart=0, core::value_type subSetEnd=1)
Definition: polynom-trajectory.hh:56
static PolynomTrajectoryPtr_t createCopy(const PolynomTrajectoryPtr_t &path)
Definition: polynom-trajectory.hh:69
HPP_PREDEF_CLASS(ComTrajectory)