Linear interpolation between two configurations. More...

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

Inheritance diagram for hpp::core::StraightPath:

Collaboration diagram for hpp::core::StraightPath:

Public Types
typedef Path	parent_t

Public Member Functions
virtual	~StraightPath () throw ()
	Destructor. More...

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

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

void	initialConfig (ConfigurationIn_t initial)
	Modify initial configuration. More...

void	endConfig (ConfigurationIn_t end)
	Modify end configuration. More...

DevicePtr_t	device () const
	Return the internal robot. More...

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

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

Static Public Member Functions
static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

static StraightPathPtr_t	createCopy (const StraightPathPtr_t &path)
	Create copy and return shared pointer. More...

static StraightPathPtr_t	createCopy (const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...

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

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
	Constructor. More...

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval)
	Constructor. More...

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

	StraightPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

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

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

void	init (StraightPathPtr_t self)

virtual bool	impl_compute (ConfigurationOut_t result, value_type param) 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 void	impl_velocityBound (vectorOut_t result, const value_type &, const value_type &) const
	Virtual implementation of velocityBound. More...

PathPtr_t	impl_extract (const interval_t &subInterval) const throw (projection_error)
	Extraction/Reversion 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

Protected Attributes
DevicePtr_t	device_

Configuration_t	initial_

Configuration_t	end_

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

Detailed Description

Linear interpolation between two configurations.

Degrees of freedom are interpolated depending on the type of joint they parameterize:

linear interpolation for translation joints, bounded rotation joints, and translation part of freeflyer joints,
angular interpolation for unbounded rotation joints,
constant angular velocity for SO(3) part of freeflyer joints.

Member Typedef Documentation

◆ parent_t

typedef Path hpp::core::StraightPath::parent_t

Constructor & Destructor Documentation

◆ ~StraightPath()

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

inlinevirtual

Destructor.

◆ StraightPath() [1/6]

hpp::core::StraightPath::StraightPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length
	)

protected

Constructor.

◆ StraightPath() [2/6]

hpp::core::StraightPath::StraightPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		interval_t	interval
	)

protected

Constructor.

◆ StraightPath() [3/6]

hpp::core::StraightPath::StraightPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConstraintSetPtr_t	constraints
	)

protected

Constructor with constraints.

◆ StraightPath() [4/6]

hpp::core::StraightPath::StraightPath	(	const DevicePtr_t &	robot,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		interval_t	interval,
		ConstraintSetPtr_t	constraints
	)

protected

Constructor with constraints.

◆ StraightPath() [5/6]

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

protected

Copy constructor.

◆ StraightPath() [6/6]

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

protected

Copy constructor with constraints.

Member Function Documentation

◆ copy() [1/2]

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

inlinevirtual

Return a shared pointer to this.

As StaightPath are immutable, and refered to by shared pointers, they do not need to be copied.

Implements hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

◆ copy() [2/2]

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

inlinevirtual

Return a shared pointer to a copy of this and set constraints.

Parameters

constraints constraints to apply to the copy

Precondition: *this should not have constraints.

Implements hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

◆ create() [1/4]

static StraightPathPtr_t hpp::core::StraightPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
length	Distance between the configurations.

◆ create() [2/4]

static StraightPathPtr_t hpp::core::StraightPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		interval_t	interval
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
interval	interval of definition.

References hpp::core::Path::checkPath(), and init().

◆ create() [3/4]

static StraightPathPtr_t hpp::core::StraightPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		value_type	length,
		ConstraintSetPtr_t	constraints
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
length	Distance between the configurations.
constraints	the path is subject to

◆ create() [4/4]

static StraightPathPtr_t hpp::core::StraightPath::create	(	const DevicePtr_t &	device,
		ConfigurationIn_t	init,
		ConfigurationIn_t	end,
		interval_t	interval,
		ConstraintSetPtr_t	constraints
	)

inlinestatic

Create instance and return shared pointer.

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
interval	interval of definition.
constraints	the path is subject to

References hpp::core::Path::checkPath(), and init().

◆ createCopy() [1/2]

static StraightPathPtr_t hpp::core::StraightPath::createCopy ( const StraightPathPtr_t & path )

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy

References hpp::core::Path::checkPath(), and init().

◆ createCopy() [2/2]

static StraightPathPtr_t hpp::core::StraightPath::createCopy	(	const StraightPathPtr_t &	path,
		const ConstraintSetPtr_t &	constraints
	)

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy
constraints	the path is subject to

References hpp::core::Path::checkPath(), and init().

◆ device()

DevicePtr_t hpp::core::StraightPath::device ( ) const

Return the internal robot.

◆ end()

Configuration_t hpp::core::StraightPath::end ( ) const

inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

◆ endConfig()

void hpp::core::StraightPath::endConfig ( ConfigurationIn_t end )

inline

Modify end configuration.

Parameters

end	new end configuration

Precondition: input configuration should be of the same size as current end configuration

◆ impl_compute()

virtual bool hpp::core::StraightPath::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.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

◆ impl_derivative()

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

protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

◆ impl_extract()

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

protectedvirtual

Extraction/Reversion of a sub-path.

Parameters

subInterval interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed.

Reimplemented from hpp::core::Path.

◆ impl_velocityBound()

virtual void hpp::core::StraightPath::impl_velocityBound	(	vectorOut_t	bound,
		const value_type &	param0,
		const value_type &	param1
	)		const

protectedvirtual

Virtual implementation of velocityBound.

Parameters

param0,param1 interval of parameter

Return values

bound

Reimplemented from hpp::core::Path.

◆ init()

void hpp::core::StraightPath::init ( StraightPathPtr_t self )

inlineprotected

Referenced by create(), and createCopy().

◆ initial()

Configuration_t hpp::core::StraightPath::initial ( ) const

inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

◆ initialConfig()

void hpp::core::StraightPath::initialConfig ( ConfigurationIn_t initial )

inline

Modify initial configuration.

Parameters

initial new initial configuration

Precondition: input configuration should be of the same size as current initial configuration

◆ print()

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

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

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

Member Data Documentation

◆ device_

DevicePtr_t hpp::core::StraightPath::device_

protected

◆ end_

Configuration_t hpp::core::StraightPath::end_

protected

◆ initial_

Configuration_t hpp::core::StraightPath::initial_

protected

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ parent_t

Constructor & Destructor Documentation

◆ ~StraightPath()

◆ StraightPath() [1/6]

◆ StraightPath() [2/6]

◆ StraightPath() [3/6]

◆ StraightPath() [4/6]

◆ StraightPath() [5/6]

◆ StraightPath() [6/6]

Member Function Documentation

◆ copy() [1/2]

◆ copy() [2/2]

◆ create() [1/4]

◆ create() [2/4]

◆ create() [3/4]

◆ create() [4/4]

◆ createCopy() [1/2]

◆ createCopy() [2/2]

◆ device()

◆ end()

◆ endConfig()

◆ impl_compute()

◆ impl_derivative()

◆ impl_extract()

◆ impl_velocityBound()

◆ init()

◆ initial()

◆ initialConfig()

◆ print()

Member Data Documentation

◆ device_

◆ end_

◆ initial_