Concatenation of several paths. More...

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

Inheritance diagram for hpp::core::PathVector:

Collaboration diagram for hpp::core::PathVector:

Public Types
typedef Path	parent_t

Public Member Functions
std::size_t	numberPaths () const
	Get the number of sub paths. More...

PathPtr_t	pathAtRank (std::size_t rank) const
	Get a path in the vector. More...

std::size_t	rankAtParam (const value_type &param, value_type &localParam) const
	Get rank of direct path in vector at param. More...

void	appendPath (const PathPtr_t &path)
	Append a path at the end of the vector. More...

void	concatenate (const PathVector &path) HPP_CORE_DEPRECATED
	Concatenate two vectors of path. More...

void	concatenate (const PathVectorPtr_t &path)
	Concatenate two vectors of path. More...

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

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

void	flatten (PathVectorPtr_t flattenedPath) const
	Return the a path vector representing the same path but ensuring that there is no PathVector in the PathVector. More...

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)

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

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...

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

	PathVector (std::size_t outputSize, std::size_t outputDerivativeSize)
	Constructor. More...

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

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

void	init (PathVectorPtr_t self)

virtual bool	impl_compute (ConfigurationOut_t result, value_type t) 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 PathPtr_t	impl_extract (const interval_t &subInterval) const throw (projection_error)
	Extraction of a sub-path. 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

virtual void	impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const
	Virtual implementation of velocityBound. More...

Construction, destruction, copy
static PathVectorPtr_t	create (size_type outputSize, size_type outputDerivativeSize)
	Create instance and return shared pointer. More...

static PathVectorPtr_t	createCopy (const PathVectorPtr_t &original)
	Create instance and return shared pointer. More...

static PathVectorPtr_t	createCopy (const PathVectorPtr_t &original, const ConstraintSetPtr_t &constraints)
	Create instance and return shared pointer. More...

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

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

virtual	~PathVector () throw ()
	Destructor. More...

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

Detailed Description

Concatenation of several paths.

Member Typedef Documentation

◆ parent_t

typedef Path hpp::core::PathVector::parent_t

Constructor & Destructor Documentation

◆ ~PathVector()

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

inlinevirtual

Destructor.

◆ PathVector() [1/3]

hpp::core::PathVector::PathVector	(	std::size_t	outputSize,
		std::size_t	outputDerivativeSize
	)

inlineprotected

Constructor.

◆ PathVector() [2/3]

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

inlineprotected

Copy constructor.

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

◆ PathVector() [3/3]

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

inlineprotected

Copy constructor with constraints.

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

Member Function Documentation

◆ appendPath()

void hpp::core::PathVector::appendPath ( const PathPtr_t & path )

Append a path at the end of the vector.

◆ concatenate() [1/2]

void hpp::core::PathVector::concatenate ( const PathVector & path )

Concatenate two vectors of path.

Deprecated:: use void method concatenate (const PathVectorPtr_t& path) instead.

◆ concatenate() [2/2]

void hpp::core::PathVector::concatenate ( const PathVectorPtr_t & path )

Concatenate two vectors of path.

Parameters

path	path to append at the end of this one

Each element of path is appended to this one.

◆ copy() [1/2]

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

inlinevirtual

Return a shared pointer to a copy of this.

Implements hpp::core::Path.

Reimplemented in hpp::core::DubinsPath, and hpp::core::ReedsSheppPath.

◆ copy() [2/2]

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

inlinevirtual

Return a shared pointer to a copy of this with constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

Reimplemented in hpp::core::DubinsPath, and hpp::core::ReedsSheppPath.

◆ create()

static PathVectorPtr_t hpp::core::PathVector::create	(	size_type	outputSize,
		size_type	outputDerivativeSize
	)

inlinestatic

Create instance and return shared pointer.

References init().

◆ createCopy() [1/2]

static PathVectorPtr_t hpp::core::PathVector::createCopy ( const PathVectorPtr_t & original )

inlinestatic

Create instance and return shared pointer.

References init().

◆ createCopy() [2/2]

static PathVectorPtr_t hpp::core::PathVector::createCopy	(	const PathVectorPtr_t &	original,
		const ConstraintSetPtr_t &	constraints
	)

inlinestatic

Create instance and return shared pointer.

References init().

◆ end()

virtual Configuration_t hpp::core::PathVector::end ( ) const

inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

Reimplemented in hpp::core::DubinsPath, and hpp::core::ReedsSheppPath.

◆ flatten()

void hpp::core::PathVector::flatten ( PathVectorPtr_t flattenedPath ) const

Return the a path vector representing the same path but ensuring that there is no PathVector in the PathVector.

◆ impl_compute()

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

protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

Reimplemented in hpp::core::ReedsSheppPath.

◆ impl_extract()

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

protectedvirtual

Extraction of a sub-path.

Parameters

subInterval interval of definition of the extract path

Reimplemented from hpp::core::Path.

◆ init()

void hpp::core::PathVector::init ( PathVectorPtr_t self )

inlineprotected

Referenced by create(), and createCopy().

◆ initial()

virtual Configuration_t hpp::core::PathVector::initial ( ) const

inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

Reimplemented in hpp::core::DubinsPath, and hpp::core::ReedsSheppPath.

Referenced by hpp::core::pathOptimization::ConfigOptimizationTraits::getGoal().

◆ numberPaths()

std::size_t hpp::core::PathVector::numberPaths ( ) const

inline

Get the number of sub paths.

◆ pathAtRank()

PathPtr_t hpp::core::PathVector::pathAtRank ( std::size_t rank ) const

Get a path in the vector.

Parameters

rank	rank of the path in the vector. Should be between 0 and numberPaths ().

Returns: shared pointer to a copy of the path at requested rank with constraints applicable to the PathVector.

◆ print()

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

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

Reimplemented in hpp::core::DubinsPath, and hpp::core::ReedsSheppPath.

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

◆ rankAtParam()

std::size_t hpp::core::PathVector::rankAtParam	(	const value_type &	param,
		value_type &	localParam
	)		const

Get rank of direct path in vector at param.

Parameters

param parameter in interval of definition,

Return values

localParam parameter on sub-path

Returns: rank of direct path in vector

Public Types

Public Member Functions

Protected Member Functions

Construction, destruction, copy

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~PathVector()

◆ PathVector() [1/3]

◆ PathVector() [2/3]

◆ PathVector() [3/3]

Member Function Documentation

◆ appendPath()

◆ concatenate() [1/2]

◆ concatenate() [2/2]

◆ copy() [1/2]

◆ copy() [2/2]

◆ create()

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ end()

◆ flatten()

◆ impl_compute()

◆ impl_derivative()

◆ impl_extract()

◆ init()

◆ initial()

◆ numberPaths()

◆ pathAtRank()

◆ print()

◆ rankAtParam()