hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_LIMB_RRT_HH
20 #define HPP_RBPRM_LIMB_RRT_HH
29 #include <hpp/core/path.hh>
30 #include <hpp/core/problem.hh>
31 #include <hpp/core/config-projector.hh>
38 namespace interpolation {
49 const std::size_t numOptimizations,
const std::size_t maxIteration = 0);
53 const CIT_StateFrame &endState,
const std::size_t numOptimizations);
58 #endif // HPP_RBPRM_LIMB_RRT_HH
Definition: limb-rrt.hh:43
core::PathPtr_t limbRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const rbprm::CIT_State &startState, const rbprm::CIT_State &endState, const std::size_t numOptimizations, const std::size_t maxIteration=0)
T_State::const_iterator CIT_State
Definition: rbprm-state.hh:33
void operator()(LimbRRTHelper &helper, const State &from, const State &to) const
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
Definition: algorithm.hh:27
Definition: rbprm-state.hh:40
TimeConstraintHelper< TimeConstraintPath, LimbRRTShooterFactory, SetLimbRRTConstraints > LimbRRTHelper
Definition: limb-rrt.hh:40
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
core::PathPtr_t limbRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const PathPtr_t refPath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
Definition: time-constraint-helper.hh:46