hpp-rbprm  4.10.1
Implementation of RB-PRM planner using hpp.
limb-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_LIMB_RRT_SHOOTER_HH
20 #define HPP_RBPRM_LIMB_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 namespace hpp {
31 namespace rbprm {
32 namespace interpolation {
34  TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t path,
35  const std::size_t pathDofRank, const hpp::rbprm::State &from,
36  const hpp::rbprm::State &to, const T_TimeDependant &tds,
37  core::ConfigProjectorPtr_t projector) const;
38 };
39 
41 } // namespace interpolation
42 } // namespace rbprm
43 } // namespace hpp
44 
45 #endif // HPP_RBPRM_LIMB_RRT_SHOOTER_HH
hpp::rbprm::interpolation::LimbRRTShooterFactory
Definition: limb-rrt-shooter.hh:33
rbprm-fullbody.hh
hpp::rbprm::interpolation::T_TimeDependant
std::vector< TimeDependant > T_TimeDependant
Definition: time-dependant.hh:68
time-constraint-shooter.hh
hpp
Definition: algorithm.hh:27
hpp::rbprm::interpolation::LimbRRTShooterFactory::operator()
TimeConstraintShooterPtr_t operator()(const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t path, 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::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:36
config.hh