hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder > Class Template Reference

Steering method that creates path::Spline instances. More...

#include <hpp/core/steering-method/spline.hh>

Inheritance diagram for hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >:

Collaboration diagram for hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >:

Public Types
enum	{   PolynomeBasis = _PolynomeBasis,   SplineOrder = _SplineOrder }
typedef path::Spline< PolynomeBasis, SplineOrder >	SplinePath
typedef SplinePath::Ptr_t	SplinePathPtr_t
typedef boost::shared_ptr< Spline >	Ptr_t
typedef boost::weak_ptr< Spline >	WkPtr_t

Public Member Functions
virtual SteeringMethodPtr_t	copy () const
	Copy instance and return shared pointer. More...
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations More...
PathPtr_t	steer (ConfigurationIn_t q1, std::vector< int > order1, matrixIn_t derivatives1, ConfigurationIn_t q2, std::vector< int > order2, matrixIn_t derivatives2) const
	create a path between two configurations More...
Public Member Functions inherited from hpp::core::SteeringMethod
PathPtr_t	operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations More...
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
virtual	~SteeringMethod ()
const Problem &	problem () const
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set. More...
const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...

Static Public Member Functions
static Ptr_t	create (const Problem &problem)
static Ptr_t	createCopy (const Ptr_t &other)
	Copy instance and return shared pointer. More...

Protected Member Functions
	Spline (const Problem &problem)
	Constructor. More...
	Spline (const Spline &other)
	Copy constructor. More...
void	init (WkPtr_t weak)
	Store weak pointer to itself. More...
Protected Member Functions inherited from hpp::core::SteeringMethod
	SteeringMethod (const Problem &problem)
	Constructor. More...
	SteeringMethod (const SteeringMethod &other)
	Copy constructor. More...
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself. More...

Additional Inherited Members
Protected Attributes inherited from hpp::core::SteeringMethod
const Problem &	problem_

Detailed Description

template<int _PolynomeBasis, int _SplineOrder>
class hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >

Steering method that creates path::Spline instances.

Member Typedef Documentation

Ptr_t

template<int _PolynomeBasis, int _SplineOrder>

typedef boost::shared_ptr<Spline> hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::Ptr_t

SplinePath

template<int _PolynomeBasis, int _SplineOrder>

typedef path::Spline<PolynomeBasis, SplineOrder> hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::SplinePath

SplinePathPtr_t

template<int _PolynomeBasis, int _SplineOrder>

typedef SplinePath::Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::SplinePathPtr_t

WkPtr_t

template<int _PolynomeBasis, int _SplineOrder>

typedef boost::weak_ptr<Spline> hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::WkPtr_t

Member Enumeration Documentation

anonymous enum

template<int _PolynomeBasis, int _SplineOrder>

anonymous enum

Enumerator
PolynomeBasis
SplineOrder

Constructor & Destructor Documentation

Spline() [1/2]

template<int _PolynomeBasis, int _SplineOrder>

hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::Spline ( const Problem &  problem )

protected

Constructor.

Spline() [2/2]

template<int _PolynomeBasis, int _SplineOrder>

hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::Spline ( const Spline< _PolynomeBasis, _SplineOrder > &  other )

protected

Copy constructor.

Member Function Documentation

copy()

template<int _PolynomeBasis, int _SplineOrder>

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::copy ( ) const

inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

create()

template<int _PolynomeBasis, int _SplineOrder>

static Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::create ( const Problem &  problem )

inlinestatic

References hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::init().

createCopy()

template<int _PolynomeBasis, int _SplineOrder>

static Ptr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::createCopy ( const Ptr_t &  other )

inlinestatic

Copy instance and return shared pointer.

References hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::init().

impl_compute()

template<int _PolynomeBasis, int _SplineOrder>

virtual PathPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::impl_compute ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

init()

template<int _PolynomeBasis, int _SplineOrder>

void hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::init ( WkPtr_t  weak )

inlineprotected

Store weak pointer to itself.

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

Referenced by hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::create(), and hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::createCopy().

steer()

template<int _PolynomeBasis, int _SplineOrder>

PathPtr_t hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::steer	(	ConfigurationIn_t	q1,
		std::vector< int >	order1,
		matrixIn_t	derivatives1,
		ConfigurationIn_t	q2,
		std::vector< int >	order2,
		matrixIn_t	derivatives2
	)		const

create a path between two configurations