#include <hpp/core/path-projector/global.hh>

Inheritance diagram for hpp::core::pathProjector::Global:

Collaboration diagram for hpp::core::pathProjector::Global:

Public Types
typedef hpp::core::StraightPath	StraightPath

typedef hpp::core::StraightPathPtr_t	StraightPathPtr_t

Public Types inherited from hpp::core::PathProjector
typedef hpp::core::Path	Path

typedef hpp::core::PathPtr_t	PathPtr_t

typedef hpp::core::PathVector	PathVector

typedef hpp::core::PathVectorPtr_t	PathVectorPtr_t

Static Public Member Functions
static GlobalPtr_t	create (const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step)

static GlobalPtr_t	create (const Problem &problem, const value_type &step)

Protected Member Functions
bool	impl_apply (const PathPtr_t &path, PathPtr_t &projection) const
	Method to be reimplemented by inherited class. More...

	Global (const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step, value_type threshold, value_type hessianBound)

Protected Member Functions inherited from hpp::core::PathProjector
	PathProjector (const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, bool keepSteeringMethodConstraints=false)
	Constructor. More...

value_type	d (ConfigurationIn_t q1, ConfigurationIn_t q2) const

PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Additional Inherited Members
Public Member Functions inherited from hpp::core::PathProjector
virtual	~PathProjector ()
	Destructor. More...

bool	apply (const PathPtr_t &path, PathPtr_t &projection) const
	Apply the constraints to the path. More...

Protected Attributes inherited from hpp::core::PathProjector
SteeringMethodPtr_t	steeringMethod_

Member Typedef Documentation

◆ StraightPath

typedef hpp::core::StraightPath hpp::core::pathProjector::Global::StraightPath

◆ StraightPathPtr_t

typedef hpp::core::StraightPathPtr_t hpp::core::pathProjector::Global::StraightPathPtr_t

Constructor & Destructor Documentation

◆ Global()

hpp::core::pathProjector::Global::Global	(	const DistancePtr_t &	distance,
		const SteeringMethodPtr_t &	steeringMethod,
		value_type	step,
		value_type	threshold,
		value_type	hessianBound
	)

protected

Member Function Documentation

◆ create() [1/2]

static GlobalPtr_t hpp::core::pathProjector::Global::create	(	const DistancePtr_t &	distance,
		const SteeringMethodPtr_t &	steeringMethod,
		value_type	step
	)

static

Todo:: The parameter "PathProjectionHessianBound" and "PathProjectionMinimalDist" are taken from the SteeringMethod::problem().

So they are accessible from Python. However, the former should be deduced from the path constraints. The latter should be passed to the constructor as an argument.

◆ create() [2/2]

static GlobalPtr_t hpp::core::pathProjector::Global::create	(	const Problem &	problem,
		const value_type &	step
	)

static

◆ impl_apply()

bool hpp::core::pathProjector::Global::impl_apply	(	const PathPtr_t &	path,
		PathPtr_t &	projection
	)		const

protectedvirtual

Method to be reimplemented by inherited class.

Implements hpp::core::PathProjector.

Public Types

Static Public Member Functions

Protected Member Functions

Additional Inherited Members