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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Steve Tonneau (steve.tonneau@laas.fr) |
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// |
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// This file is part of hpp-rbprm. |
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// hpp-rbprm is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// |
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// hpp-rbprm is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// hpp-core If not, see |
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// <http://www.gnu.org/licenses/>. |
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#ifndef HPP_RBPRM_COM_RRT_SHOOTER_HH |
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#define HPP_RBPRM_COM_RRT_SHOOTER_HH |
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#include <hpp/core/path.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/rbprm/config.hh> |
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#include <hpp/rbprm/interpolation/time-constraint-shooter.hh> |
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#include <hpp/rbprm/rbprm-fullbody.hh> |
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#include <vector> |
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namespace hpp { |
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namespace rbprm { |
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namespace interpolation { |
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struct ComRRTShooterFactory { |
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ComRRTShooterFactory(core::PathPtr_t guidePath) : guidePath_(guidePath) {} |
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~ComRRTShooterFactory() {} |
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TimeConstraintShooterPtr_t operator()( |
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const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, |
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const std::size_t pathDofRank, const hpp::rbprm::State &from, |
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const hpp::rbprm::State &to, const T_TimeDependant &tds, |
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core::ConfigProjectorPtr_t projector) const; |
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core::PathPtr_t guidePath_; |
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}; |
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struct EffectorRRTShooterFactory { |
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EffectorRRTShooterFactory(core::PathPtr_t guidePath) |
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: guidePath_(guidePath) {} |
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~EffectorRRTShooterFactory() {} |
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TimeConstraintShooterPtr_t operator()( |
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const RbPrmFullBodyPtr_t fullBody, const hpp::core::PathPtr_t comPath, |
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const std::size_t pathDofRank, const hpp::rbprm::State &from, |
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const hpp::rbprm::State &to, const T_TimeDependant &tds, |
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core::ConfigProjectorPtr_t projector) const; |
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core::PathPtr_t guidePath_; |
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}; |
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/// \} |
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} // namespace interpolation |
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} // namespace rbprm |
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} // namespace hpp |
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#endif // HPP_RBPRM_COM_RRT_SHOOTER_HH |