Piecewise linear interpolation between two configurations. More...

#include <hpp/core/interpolated-path.hh>

Inheritance diagram for hpp::core::InterpolatedPath:

Collaboration diagram for hpp::core::InterpolatedPath:

Public Types
typedef std::pair< const value_type, Configuration_t >	InterpolationPoint_t

typedef std::map< value_type, Configuration_t, std::less< value_type >, Eigen::aligned_allocator< InterpolationPoint_t > >	InterpolationPoints_t

typedef Path	parent_t

Public Member Functions
virtual	~InterpolatedPath () throw ()
	Destructor. More...

virtual PathPtr_t	copy () const
	Return a shared pointer to this. More...

virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this and set constraints. More...

virtual PathPtr_t	reverse () const
	Reversion of a path. More...

DevicePtr_t	device () const
	Return the internal robot. More...

void	insert (const value_type &time, ConfigurationIn_t config)
	Insert interpolation point. More...

Configuration_t	initial () const
	Get the initial configuration. More...

Configuration_t	end () const
	Get the final configuration. More...

const InterpolationPoints_t &	interpolationPoints () const

Public Member Functions inherited from hpp::core::Path
virtual	~Path () throw ()
	Destructor. More...

template<class T >
boost::shared_ptr< T >	as (void)
	Static cast into a derived type. More...

template<class T >
boost::shared_ptr< const T >	as (void) const
	Static cast into a derived type. More...

PathPtr_t	extract (const interval_t &subInterval) const throw (projection_error)

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const throw (projection_error)

Configuration_t	operator() (const value_type &time) const HPP_CORE_DEPRECATED

Configuration_t	operator() (const value_type &time, bool &success) const

bool	operator() (ConfigurationOut_t result, const value_type &time) const throw ()

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const throw ()

bool	at (const value_type &time, ConfigurationOut_t result) const
	Get the configuration at a parameter without applying the constraints. More...

void	derivative (vectorOut_t result, const value_type &time, size_type order) const
	Get derivative with respect to parameter at given parameter. More...

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Get an upper bound of the velocity on a sub-interval. More...

size_type	outputSize () const
	Get size of configuration space. More...

size_type	outputDerivativeSize () const
	Get size of velocity. More...

const interval_t &	timeRange () const
	Get interval of definition. More...

virtual value_type	length () const
	Get length of definition interval. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to. More...

const interval_t &	paramRange () const
	Get interval of parameters. More...

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Static Public Member Functions
static InterpolatedPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
	Create instance and return shared pointer. More...

static InterpolatedPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

static InterpolatedPathPtr_t	createCopy (const InterpolatedPathPtr_t &path)
	Create copy and return shared pointer. More...

static InterpolatedPathPtr_t	create (const PathPtr_t &path, const DevicePtr_t &device, const std::size_t &nbSamples)
	Create an interpolation of this path. More...

static InterpolatedPathPtr_t	createCopy (const InterpolatedPathPtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream. More...

	InterpolatedPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
	Constructor. More...

	InterpolatedPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

	InterpolatedPath (const PathPtr_t &path, const DevicePtr_t &device, const std::size_t &nbSamples)
	DIscretization of a given path. More...

	InterpolatedPath (const InterpolatedPath &path)
	Copy constructor. More...

	InterpolatedPath (const InterpolatedPath &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (InterpolatedPathPtr_t self)

void	initCopy (InterpolatedPathPtr_t self)

virtual bool	impl_compute (ConfigurationOut_t result, value_type param) const
	Function evaluation without applying constraints. More...

virtual void	impl_derivative (vectorOut_t result, const value_type &t, size_type order) const
	Virtual implementation of derivative. More...

virtual void	impl_velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const
	Virtual implementation of velocityBound. More...

PathPtr_t	impl_extract (const interval_t &subInterval) const throw (projection_error)
	Extraction/Reversion of a sub-path See Path::extract. More...

Protected Member Functions inherited from hpp::core::Path
	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)
	Constructor. More...

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)
	Constructor. More...

	Path (const Path &path)
	Copy constructor. More...

	Path (const Path &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...

void	init (const PathWkPtr_t &self)
	Store weak pointer to itself. More...

void	constraints (const ConstraintSetPtr_t &constraint)
	Set the constraints. More...

virtual void	checkPath () const
	Should be called by child classes after having init. More...

void	timeRange (const interval_t &timeRange)

const TimeParameterizationPtr_t &	timeParameterization () const

value_type	paramLength () const

Configuration_t	configAtParam (const value_type &param, bool &success) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters. More...

Detailed Description

Piecewise linear interpolation between two configurations.

This type of path is the return type of PathProjector algorithms.

Degrees of freedom are interpolated depending on the type of joint they parameterize:

linear interpolation for translation joints, bounded rotation joints, and translation part of freeflyer joints,
angular interpolation for unbounded rotation joints,
constant angular velocity for SO(3) part of freeflyer joints.

Member Typedef Documentation

◆ InterpolationPoint_t

typedef std::pair<const value_type, Configuration_t> hpp::core::InterpolatedPath::InterpolationPoint_t

◆ InterpolationPoints_t

typedef std::map<value_type, Configuration_t, std::less <value_type>, Eigen::aligned_allocator <InterpolationPoint_t> > hpp::core::InterpolatedPath::InterpolationPoints_t

◆ parent_t

typedef Path hpp::core::InterpolatedPath::parent_t

Constructor & Destructor Documentation

◆ ~InterpolatedPath()

virtual hpp::core::InterpolatedPath::~InterpolatedPath	(	)
throw	(
	)

inlinevirtual

Destructor.

◆ InterpolatedPath() [1/5]

hpp::core::InterpolatedPath::InterpolatedPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length
	)

protected

Constructor.

◆ InterpolatedPath() [2/5]

hpp::core::InterpolatedPath::InterpolatedPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConstraintSetPtr_t	constraints
	)

protected

Constructor with constraints.

◆ InterpolatedPath() [3/5]

hpp::core::InterpolatedPath::InterpolatedPath	(	const PathPtr_t &	path,
		const DevicePtr_t &	device,
		const std::size_t &	nbSamples
	)

protected

DIscretization of a given path.

◆ InterpolatedPath() [4/5]

hpp::core::InterpolatedPath::InterpolatedPath ( const InterpolatedPath & path )

protected

Copy constructor.

◆ InterpolatedPath() [5/5]

hpp::core::InterpolatedPath::InterpolatedPath	(	const InterpolatedPath &	path,
		const ConstraintSetPtr_t &	constraints
	)

protected

Copy constructor with constraints.

Member Function Documentation

◆ copy() [1/2]

virtual PathPtr_t hpp::core::InterpolatedPath::copy ( ) const

inlinevirtual

Return a shared pointer to this.

As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.

Implements hpp::core::Path.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::InterpolatedPath::copy ( const ConstraintSetPtr_t & constraints ) const

inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

◆ create() [1/3]

static InterpolatedPathPtr_t hpp::core::InterpolatedPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
length	Distance between the configurations.

References init().

Referenced by hpp::core::steeringMethod::Interpolated::impl_compute().

◆ create() [2/3]

static InterpolatedPathPtr_t hpp::core::InterpolatedPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConstraintSetPtr_t	constraints
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
length	Distance between the configurations.
constraints	the path is subject to

References init().

◆ create() [3/3]

static InterpolatedPathPtr_t hpp::core::InterpolatedPath::create	(	const PathPtr_t &	path,
		const DevicePtr_t &	device,
		const std::size_t &	nbSamples
	)

static

Create an interpolation of this path.

Parameters

path	path to interpolate
nbSamples	number of samples between the initial and end configuration

Note: it is assume that the constraints are constant along the path

◆ createCopy() [1/2]

static InterpolatedPathPtr_t hpp::core::InterpolatedPath::createCopy ( const InterpolatedPathPtr_t & path )

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy

References initCopy().

◆ createCopy() [2/2]

static InterpolatedPathPtr_t hpp::core::InterpolatedPath::createCopy	(	const InterpolatedPathPtr_t &	path,
		const ConstraintSetPtr_t &	constraints
	)

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy
constraints	the path is subject to

References initCopy().

◆ device()

DevicePtr_t hpp::core::InterpolatedPath::device ( ) const

Return the internal robot.

◆ end()

Configuration_t hpp::core::InterpolatedPath::end ( ) const

inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

◆ impl_compute()

virtual bool hpp::core::InterpolatedPath::impl_compute	(	ConfigurationOut_t	configuration,
		value_type	param
	)		const

protectedvirtual

Function evaluation without applying constraints.

Returns: true if everything went good.

Implements hpp::core::Path.

◆ impl_derivative()

virtual void hpp::core::InterpolatedPath::impl_derivative	(	vectorOut_t	result,
		const value_type &	t,
		size_type	order
	)		const

protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

◆ impl_extract()

PathPtr_t hpp::core::InterpolatedPath::impl_extract	(	const interval_t &	subInterval	)	const
throw	(	projection_error
	)

protectedvirtual

Extraction/Reversion of a sub-path See Path::extract.

Reimplemented from hpp::core::Path.

◆ impl_velocityBound()

virtual void hpp::core::InterpolatedPath::impl_velocityBound	(	vectorOut_t	bound,
		const value_type &	param0,
		const value_type &	param1
	)		const

protectedvirtual

Virtual implementation of velocityBound.

Parameters

param0,param1 interval of parameter

Return values

bound

Reimplemented from hpp::core::Path.

◆ init()

void hpp::core::InterpolatedPath::init ( InterpolatedPathPtr_t self )

protected

Referenced by create().

◆ initCopy()

void hpp::core::InterpolatedPath::initCopy ( InterpolatedPathPtr_t self )

protected

Referenced by createCopy().

◆ initial()

Configuration_t hpp::core::InterpolatedPath::initial ( ) const

inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ insert()

void hpp::core::InterpolatedPath::insert	(	const value_type &	time,
		ConfigurationIn_t	config
	)

inline

Insert interpolation point.

◆ interpolationPoints()

const InterpolationPoints_t& hpp::core::InterpolatedPath::interpolationPoints ( ) const

inline

◆ print()

virtual std::ostream& hpp::core::InterpolatedPath::print ( std::ostream & os ) const

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

References hpp::core::Path::print().

◆ reverse()

virtual PathPtr_t hpp::core::InterpolatedPath::reverse ( ) const

virtual

Reversion of a path.

Returns: a new path that is this one reversed.

Reimplemented from hpp::core::Path.

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ InterpolationPoint_t

◆ InterpolationPoints_t

◆ parent_t

Constructor & Destructor Documentation

◆ ~InterpolatedPath()

◆ InterpolatedPath() [1/5]

◆ InterpolatedPath() [2/5]

◆ InterpolatedPath() [3/5]

◆ InterpolatedPath() [4/5]

◆ InterpolatedPath() [5/5]

Member Function Documentation

◆ copy() [1/2]

◆ copy() [2/2]

◆ create() [1/3]

◆ create() [2/3]

◆ create() [3/3]

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ device()

◆ end()

◆ impl_compute()

◆ impl_derivative()

◆ impl_extract()

◆ impl_velocityBound()

◆ init()

◆ initCopy()

◆ initial()

◆ insert()

◆ interpolationPoints()

◆ print()

◆ reverse()