Steering method and distance functions

Some system are subject to kinematic or dynamic constraints. More...

Classes
class	hpp::core::distance::ReedsShepp
	Reeds and Shepp distance. More...
class	hpp::core::Distance
	Abstract class for distance between configurations. More...
class	hpp::core::KinodynamicDistance
	This class computed the Distance between two states as the minimal time required to connect this two states with a "bang-bang" trajectory, given velocity and acceleration bounds. More...
class	hpp::core::steeringMethod::CarLike
	Abstract class that implements various type of trajectories for carlike vehicles. More...
class	hpp::core::steeringMethod::Dubins
	Steering method that creates DubinsPath instances. More...
class	hpp::core::steeringMethod::Hermite
	Steering method that creates path::Hermite instances. More...
class	hpp::core::steeringMethod::Interpolated
	Steering method that creates StraightPath instances. More...
class	hpp::core::steeringMethod::ReedsShepp
	Steering method that creates ReedsSheppPath instances. More...
class	hpp::core::steeringMethod::Snibud
	Steering method that creates backward Dubins paths. More...
class	hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >
	Steering method that creates path::Spline instances. More...
class	hpp::core::steeringMethod::Kinodynamic
	Steering method that creates KinodynamicPath instances. More...
class	hpp::core::steeringMethod::Straight
	Steering method that creates StraightPath instances. More...
class	hpp::core::SteeringMethod
	Steering method. More...
class	hpp::core::WeighedDistance
	Weighed distance between configurations. More...

Functions
static StraightPtr_t	hpp::core::steeringMethod::Straight::create (const Problem &problem)
	Create instance and return shared pointer. More...
static StraightPtr_t	hpp::core::steeringMethod::Straight::createCopy (const StraightPtr_t &other)
	Copy instance and return shared pointer. More...
virtual SteeringMethodPtr_t	hpp::core::steeringMethod::Straight::copy () const
	Copy instance and return shared pointer. More...
virtual PathPtr_t	hpp::core::steeringMethod::Straight::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations More...
	hpp::core::steeringMethod::Straight::Straight (const Problem &problem)
	Constructor with robot Weighed distance is created from robot. More...
	hpp::core::steeringMethod::Straight::Straight (const Straight &other)
	Copy constructor. More...
void	hpp::core::steeringMethod::Straight::init (StraightWkPtr_t weak)
	Store weak pointer to itself. More...

Detailed Description

Some system are subject to kinematic or dynamic constraints.

Those constraints can be handled in path planning using a steering method that builds an admissible path between two configurations of the system. When using a steering method, it can be useful to use a distance function that accounts for the cost to go from a configuration to another.

Function Documentation

copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Straight::copy ( ) const

inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

create()

static StraightPtr_t hpp::core::steeringMethod::Straight::create ( const Problem &  problem )

inlinestatic

Create instance and return shared pointer.

References hpp::core::steeringMethod::Straight::init().

createCopy()

static StraightPtr_t hpp::core::steeringMethod::Straight::createCopy ( const StraightPtr_t &  other )

inlinestatic

Copy instance and return shared pointer.

References hpp::core::steeringMethod::Straight::init().

impl_compute()

virtual PathPtr_t hpp::core::steeringMethod::Straight::impl_compute ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

init()

void hpp::core::steeringMethod::Straight::init ( StraightWkPtr_t  weak )

inlineprotected

Store weak pointer to itself.

References hpp::core::SteeringMethod::init().

Referenced by hpp::core::steeringMethod::Straight::create(), and hpp::core::steeringMethod::Straight::createCopy().

Straight() [1/2]

hpp::core::steeringMethod::Straight::Straight ( const Problem &  problem )

inlineprotected

Constructor with robot Weighed distance is created from robot.

Straight() [2/2]

hpp::core::steeringMethod::Straight::Straight ( const Straight &  other )

inlineprotected

Copy constructor.