hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
20 #define HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
22 #include <hpp/core/path-optimization/random-shortcut.hh>
54 virtual core::PathVectorPtr_t
optimize(
const core::PathVectorPtr_t& path);
59 core::PathPtr_t
steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2)
const;
64 double sizeFootX_, sizeFootY_;
65 bool rectangularContact_;
73 #endif // HPP_RBPRM_RANDOM_SHORTCUT_DYNAMIC_HH
boost::shared_ptr< RandomShortcutDynamic > RandomShortcutDynamicPtr_t
Definition: random-shortcut-dynamic.hh:46
HPP_PREDEF_CLASS(RbPrmFullBody)
RandomShortcutDynamic(const core::Problem &problem)
Definition: random-shortcut-dynamic.hh:48
core::PathPtr_t steer(core::ConfigurationIn_t q1, core::ConfigurationIn_t q2) const
boost::shared_ptr< RbPrmPathValidation > RbPrmPathValidationPtr_t
Definition: rbprm-path-validation.hh:31
boost::shared_ptr< SteeringMethodKinodynamic > SteeringMethodKinodynamicPtr_t
Definition: rbprm-steering-kinodynamic.hh:33
Definition: algorithm.hh:27
virtual core::PathVectorPtr_t optimize(const core::PathVectorPtr_t &path)
Optimize path.
static RandomShortcutDynamicPtr_t create(const core::Problem &problem)
Return shared pointer to new object.