hpp::core::SteeringMethod Class Reference

Steering method. More...

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

Inheritance diagram for hpp::core::SteeringMethod:

Collaboration diagram for hpp::core::SteeringMethod:

Public Member Functions
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 ()
virtual SteeringMethodPtr_t	copy () const =0
	Copy instance and return shared pointer. More...
const Problem &	problem () const
Constraints applicable to the robot.
These constraints are not automatically taken into account. Child class can use it if they need.
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set. More...
const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...

Protected Member Functions
	SteeringMethod (const Problem &problem)
	Constructor. More...
	SteeringMethod (const SteeringMethod &other)
	Copy constructor. More...
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0
	create a path between two configurations More...
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself. More...

Protected Attributes
const Problem &	problem_

Detailed Description

Steering method.

A steering method creates paths between pairs of configurations for a robot. They are usually used to take into account nonholonomic constraints of some robots

Constructor & Destructor Documentation

~SteeringMethod()

virtual hpp::core::SteeringMethod::~SteeringMethod ( )

inlinevirtual

SteeringMethod() [1/2]

hpp::core::SteeringMethod::SteeringMethod ( const Problem &  problem )

inlineprotected

Constructor.

SteeringMethod() [2/2]

hpp::core::SteeringMethod::SteeringMethod ( const SteeringMethod &  other )

inlineprotected

Copy constructor.

Constraints are copied

Member Function Documentation

constraints() [1/2]

void hpp::core::SteeringMethod::constraints ( const ConstraintSetPtr_t &  constraints )

inline

Set constraint set.

constraints() [2/2]

const ConstraintSetPtr_t& hpp::core::SteeringMethod::constraints ( ) const

inline

Get constraint set.

copy()

virtual SteeringMethodPtr_t hpp::core::SteeringMethod::copy ( ) const

pure virtual

Copy instance and return shared pointer.

Implemented in hpp::core::steeringMethod::Dubins, hpp::core::steeringMethod::ReedsShepp, hpp::core::steeringMethod::Snibud, hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >, hpp::core::steeringMethod::Kinodynamic, hpp::core::steeringMethod::Interpolated, hpp::core::steeringMethod::Hermite, and hpp::core::steeringMethod::Straight.

impl_compute()

virtual PathPtr_t hpp::core::SteeringMethod::impl_compute ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

protectedpure virtual

create a path between two configurations

Implemented in hpp::core::steeringMethod::Dubins, hpp::core::steeringMethod::ReedsShepp, hpp::core::steeringMethod::Snibud, hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >, hpp::core::steeringMethod::Kinodynamic, hpp::core::steeringMethod::Interpolated, hpp::core::steeringMethod::Hermite, and hpp::core::steeringMethod::Straight.

init()

void hpp::core::SteeringMethod::init ( SteeringMethodWkPtr_t  weak )

inlineprotected

Store weak pointer to itself.

Referenced by hpp::core::steeringMethod::CarLike::init(), hpp::core::steeringMethod::Straight::init(), hpp::core::steeringMethod::Hermite::init(), hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >::init(), hpp::core::steeringMethod::Interpolated::init(), and hpp::core::steeringMethod::Kinodynamic::init().

operator()()

PathPtr_t hpp::core::SteeringMethod::operator() ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

inline

create a path between two configurations

Returns

a Path from q1 to q2 if found. An empty Path if Path could not be built.

References hpp::core::projection_error::what().

problem()

const Problem& hpp::core::SteeringMethod::problem ( ) const

inline

steer()

PathPtr_t hpp::core::SteeringMethod::steer ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

inline

Member Data Documentation

problem_

const Problem& hpp::core::SteeringMethod::problem_

protected