hpp::core::pathProjector::RecursiveHermite Class Reference

Implements "Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds" from Kris Hauser. More...

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

Inheritance diagram for hpp::core::pathProjector::RecursiveHermite:

Collaboration diagram for hpp::core::pathProjector::RecursiveHermite:

Public Types
typedef hpp::core::path::Hermite	Hermite
typedef hpp::core::path::HermitePtr_t	HermitePtr_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 RecursiveHermitePtr_t	create (const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, value_type step)
static RecursiveHermitePtr_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...
	RecursiveHermite (const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, const value_type &M, const value_type &beta)
bool	project (const PathPtr_t &path, PathPtr_t &proj) const
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_

Detailed Description

Implements "Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds" from Kris Hauser.

Member Typedef Documentation

Hermite

typedef hpp::core::path::Hermite hpp::core::pathProjector::RecursiveHermite::Hermite

HermitePtr_t

typedef hpp::core::path::HermitePtr_t hpp::core::pathProjector::RecursiveHermite::HermitePtr_t

Constructor & Destructor Documentation

RecursiveHermite()

hpp::core::pathProjector::RecursiveHermite::RecursiveHermite ( const DistancePtr_t &  distance, const SteeringMethodPtr_t &  steeringMethod, const value_type &  M, const value_type &  beta  )

protected

Member Function Documentation

create() [1/2]

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

static

create() [2/2]

static RecursiveHermitePtr_t hpp::core::pathProjector::RecursiveHermite::create ( const Problem &  problem, const value_type &  step  )

static

impl_apply()

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

protectedvirtual

Method to be reimplemented by inherited class.

Implements hpp::core::PathProjector.

project()

bool hpp::core::pathProjector::RecursiveHermite::project ( const PathPtr_t &  path, PathPtr_t &  proj  ) const

protected