hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
20 #define HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
31 #include <hpp/core/problem.hh>
32 #include <hpp/core/config-projector.hh>
40 namespace interpolation {
42 template <
class Helper_T>
46 helper.rootProblem_->pathValidation(pathVal);
49 template <
class Helper_T>
51 core::Configuration_t config(helper.fullBodyDevice_->currentConfiguration());
53 config[config.rows() - 1] = time;
54 return core::ConfigurationPtr_t(
new core::Configuration_t(config));
58 const std::size_t pathDofRank) {
59 const core::value_type y = configuration[pathDofRank];
61 (*cit)(y, configuration);
67 #endif // HPP_RBPRM_TIME_CONSTRAINT_UTILS_HH
void SetPathValidation(Helper_T &helper)
Definition: time-constraint-utils.hh:43
static TimeConstraintPathValidationPtr_t create(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
void UpdateConstraints(core::ConfigurationOut_t configuration, const T_TimeDependant &tds, const std::size_t pathDofRank)
Definition: time-constraint-utils.hh:57
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:68
T_TimeDependant::const_iterator CIT_TimeDependant
Definition: time-dependant.hh:69
boost::shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:29
Definition: algorithm.hh:27
Definition: rbprm-state.hh:40
core::ConfigurationPtr_t TimeConfigFromDevice(const Helper_T &helper, const State &state, const double time)
Definition: time-constraint-utils.hh:50
hpp::pinocchio::Configuration_t configuration_
Definition: rbprm-state.hh:108