hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_PATH_INTERPOLATION_HH
20 #define HPP_RBPRM_PATH_INTERPOLATION_HH
24 #include <hpp/core/path-vector.hh>
25 #include <hpp/pinocchio/device.hh>
31 typedef std::vector<pinocchio::vector_t, Eigen::aligned_allocator<pinocchio::vector_t> >
T_Configuration;
33 namespace interpolation {
52 const core::PathVectorConstPtr_t path = core::PathVectorConstPtr_t(),
53 const bool testReachability =
true,
const bool quasiStatic =
false);
68 const std::map<std::string, std::vector<std::string> >& affFilters,
69 const double timeStep = 0.01,
const double robustnessTreshold = 0.,
70 const bool filterStates =
false);
85 const std::map<std::string, std::vector<std::string> >& affFilters,
87 const pinocchio::value_type timeStep = 1.,
88 const pinocchio::value_type initValue = 0.,
const bool filterStates =
false);
90 core::Configuration_t configPosition(core::ConfigurationIn_t previous,
const core::PathVectorConstPtr_t path,
103 const core::PathVectorConstPtr_t
path_;
123 bool testReachability(
const State& s0,
const State& s1);
127 const State& end,
const bool testReachability =
true,
const bool quasiStatic =
false);
132 void init(
const RbPrmInterpolationWkPtr_t& weakPtr);
135 RbPrmInterpolationWkPtr_t weakPtr_;
150 #endif // HPP_RBPRM_PATH_INTERPOLATION_HH
bool quasiStatic_
Definition: rbprm-path-interpolation.hh:107
const core::PathVectorConstPtr_t path_
Definition: rbprm-path-interpolation.hh:103
T_Configuration::const_iterator CIT_Configuration
Definition: rbprm-path-interpolation.hh:32
const State start_
Definition: rbprm-path-interpolation.hh:104
std::vector< StateFrame > T_StateFrame
Definition: rbprm-state.hh:35
Definition: rbprm-path-interpolation.hh:42
std::pair< pinocchio::value_type, rbprm::State > StateFrame
Definition: rbprm-state.hh:34
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
const State end_
Definition: rbprm-path-interpolation.hh:105
boost::shared_ptr< RbPrmInterpolation > RbPrmInterpolationPtr_t
Definition: rbprm-path-interpolation.hh:39
std::vector< pinocchio::vector_t, Eigen::aligned_allocator< pinocchio::vector_t > > T_Configuration
Definition: rbprm-path-interpolation.hh:31
Definition: algorithm.hh:27
bool testReachability_
Definition: rbprm-path-interpolation.hh:106
Definition: rbprm-state.hh:40
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
HPP_PREDEF_CLASS(ComTrajectory)
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64