19 #ifndef HPP_RBPRM_TIMECONSTRAINT_PATH_HH
20 #define HPP_RBPRM_TIMECONSTRAINT_PATH_HH
22 #include <hpp/core/fwd.hh>
23 #include <hpp/core/config.hh>
24 #include <hpp/core/path.hh>
29 namespace interpolation {
52 core::ConfigurationIn_t end, core::value_type length,
67 core::ConfigurationIn_t end, core::value_type length,
68 core::ConstraintSetPtr_t constraints,
const std::size_t pathDofRank,
91 const core::ConstraintSetPtr_t& constraints) {
103 virtual core::PathPtr_t
copy()
const {
return createCopy(weak_.lock()); }
109 virtual core::PathPtr_t
copy(
const core::ConstraintSetPtr_t& constraints)
const {
110 return createCopy(weak_.lock(), constraints);
117 virtual core::PathPtr_t extract(
const core::interval_t& subInterval)
const throw(core::projection_error);
124 assert(initial.size() == initial_.size());
125 pinocchio::value_type dof = initial_[pathDofRank_];
127 initial_[pathDofRank_] = dof;
135 assert(end.size() == end_.size());
136 pinocchio::value_type dof = end_[pathDofRank_];
138 end_[pathDofRank_] = dof;
142 core::DevicePtr_t device()
const;
145 core::Configuration_t
initial()
const {
return initial_; }
148 core::Configuration_t
end()
const {
return end_; }
150 virtual void checkPath()
const throw(core::projection_error);
154 virtual std::ostream& print(std::ostream& os)
const {
155 os <<
"TimeConstraintPath:" << std::endl;
156 os <<
"interval: [ " << timeRange().first <<
", " << timeRange().second <<
" ]" << std::endl;
157 os <<
"initial configuration: " << initial_.transpose() << std::endl;
158 os <<
"final configuration: " << end_.transpose() << std::endl;
162 TimeConstraintPath(
const core::DevicePtr_t& robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end,
163 core::value_type length,
const std::size_t pathDofRank,
const T_TimeDependant& tds);
166 TimeConstraintPath(
const core::DevicePtr_t& robot, core::ConfigurationIn_t init, core::ConfigurationIn_t end,
167 core::value_type length, core::ConstraintSetPtr_t constraints,
const std::size_t pathDofRank,
177 parent_t::init(
self);
182 parent_t::init(
self);
186 virtual bool impl_compute(core::ConfigurationOut_t result, core::value_type param)
const;
189 void updateConstraints(core::ConfigurationOut_t configuration)
const;
192 core::DevicePtr_t device_;
193 core::Configuration_t initial_;
194 core::Configuration_t end_;
201 TimeConstraintPathWkPtr_t weak_;
206 #endif // HPP_RBPRM_TIMECONSTRAINT_PATH_HH