Result of the selection of some configuration parameter of an original path. More...

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

Inheritance diagram for hpp::core::SubchainPath:

Collaboration diagram for hpp::core::SubchainPath:

Public Types
typedef Path	parent_t

Public Member Functions
virtual	~SubchainPath () throw ()

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 and set constraints. More...

virtual bool	impl_compute (ConfigurationOut_t result, value_type param) const
	Function evaluation without applying constraints. More...

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

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

void	dofExtract (ConfigurationIn_t qin, ConfigurationOut_t qout) const

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 SubchainPathPtr_t	create (const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
	Constructor. More...

static SubchainPathPtr_t	createCopy (const SubchainPathPtr_t &path)

static SubchainPathPtr_t	createCopy (const SubchainPathPtr_t &path, const ConstraintSetPtr_t &constraints)

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

	SubchainPath (const PathPtr_t &original, const segments_t &confIntervals, const segments_t &velIntervals)
	Constructor. More...

	SubchainPath (const SubchainPath &path)

	SubchainPath (const SubchainPath &path, const ConstraintSetPtr_t &constraints)

void	init (SubchainPathPtr_t self)

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_derivative (vectorOut_t derivative, const value_type &param, size_type order) const
	Virtual implementation of derivative. More...

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

virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const throw (projection_error)
	Virtual implementation of extract. More...

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

Detailed Description

Result of the selection of some configuration parameter of an original path.

Note: Decorator design pattern

Todo:: the configuration parameter cannot be rearranged.

Member Typedef Documentation

◆ parent_t

typedef Path hpp::core::SubchainPath::parent_t

Constructor & Destructor Documentation

◆ ~SubchainPath()

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

inlinevirtual

◆ SubchainPath() [1/3]

hpp::core::SubchainPath::SubchainPath	(	const PathPtr_t &	original,
		const segments_t &	confIntervals,
		const segments_t &	velIntervals
	)

inlineprotected

Constructor.

Parameters

original	Path to extract,
confIntervals	of the configuration parameters to be extracted
velIntervals	of the configuration parameters to be extracted

Referenced by create(), and createCopy().

◆ SubchainPath() [2/3]

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

inlineprotected

◆ SubchainPath() [3/3]

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

inlineprotected

Member Function Documentation

◆ copy() [1/2]

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

inlinevirtual

Return a shared pointer to a copy of this.

Implements hpp::core::Path.

References createCopy().

◆ copy() [2/2]

virtual PathPtr_t hpp::core::SubchainPath::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.

References hpp::core::Path::constraints(), and createCopy().

◆ create()

static SubchainPathPtr_t hpp::core::SubchainPath::create	(	const PathPtr_t &	original,
		const segments_t &	confIntervals,
		const segments_t &	velIntervals
	)