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

Inheritance diagram for hpp::core::KinodynamicPath:

Collaboration diagram for hpp::core::KinodynamicPath:

Public Types
typedef StraightPath	parent_t

Public Types inherited from hpp::core::StraightPath
typedef Path	parent_t

Public Member Functions
virtual	~KinodynamicPath () 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...

virtual PathPtr_t	impl_extract (const interval_t &paramInterval) const throw (projection_error)
	Extraction/Reversion of a sub-path. More...

vector_t	getT0 ()

vector_t	getT1 ()

vector_t	getT2 ()

vector_t	getTv ()

vector_t	getA1 ()

Public Member Functions inherited from hpp::core::StraightPath
virtual	~StraightPath () throw ()
	Destructor. 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 KinodynamicPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim)
	Create instance and return shared pointer. More...

static KinodynamicPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints)
	Create instance and return shared pointer. More...

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

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

Static Public Member Functions inherited from hpp::core::StraightPath
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...

	KinodynamicPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim)
	Constructor. More...

	KinodynamicPath (const DevicePtr_t &robot, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConfigurationIn_t a1, ConfigurationIn_t t0, ConfigurationIn_t t1, ConfigurationIn_t tv, ConfigurationIn_t t2, ConfigurationIn_t vLim, ConstraintSetPtr_t constraints)
	Constructor with constraints. More...

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

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

void	init (KinodynamicPathPtr_t self)

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

double	sgnenum (double val) const

int	sgn (double d) const

double	sgnf (double d) const

Protected Member Functions inherited from hpp::core::StraightPath
	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 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

Additional Inherited Members
Protected Attributes inherited from hpp::core::StraightPath
DevicePtr_t	device_

Configuration_t	initial_

Configuration_t	end_

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members