Path

KinodynamicPath store a "bang-bang" trajectory depend on time with either 2 segment of constant acceleration or 3 segments with a constant velocity segment. More...

Classes
class	hpp::core::DubinsPath
	Car like motion going only forward. More...
class	hpp::core::InterpolatedPath
	Piecewise linear interpolation between two configurations. More...
class	hpp::core::KinodynamicPath
class	hpp::core::path::Hermite
class	hpp::core::path::Spline< _PolynomeBasis, _Order >
	Base class for spline paths. More...
class	hpp::core::PathVector
	Concatenation of several paths. More...
class	hpp::core::Path
	Abstraction of paths: mapping from time to configuration space. More...
class	hpp::core::ReedsSheppPath
	Car like motion. More...
class	hpp::core::StraightPath
	Linear interpolation between two configurations. More...
class	hpp::core::SubchainPath
	Result of the selection of some configuration parameter of an original path. More...

Typedefs
typedef StraightPath	hpp::core::KinodynamicPath::parent_t

Enumerations
enum	hpp::core::path::PolynomeBasisType {   hpp::core::path::CanonicalPolynomeBasis,   hpp::core::path::BernsteinBasis }

Functions
virtual	hpp::core::KinodynamicPath::~KinodynamicPath () throw ()
	Destructor. More...
static KinodynamicPathPtr_t	hpp::core::KinodynamicPath::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	hpp::core::KinodynamicPath::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	hpp::core::KinodynamicPath::createCopy (const KinodynamicPathPtr_t &path)
	Create copy and return shared pointer. More...
static KinodynamicPathPtr_t	hpp::core::KinodynamicPath::createCopy (const KinodynamicPathPtr_t &path, const ConstraintSetPtr_t &constraints)
	Create copy and return shared pointer. More...
virtual PathPtr_t	hpp::core::KinodynamicPath::copy () const
	Return a shared pointer to this. More...
virtual PathPtr_t	hpp::core::KinodynamicPath::copy (const ConstraintSetPtr_t &constraints) const
	Return a shared pointer to a copy of this and set constraints. More...
virtual PathPtr_t	hpp::core::KinodynamicPath::impl_extract (const interval_t &paramInterval) const throw (projection_error)
	Extraction/Reversion of a sub-path. More...
vector_t	hpp::core::KinodynamicPath::getT0 ()
vector_t	hpp::core::KinodynamicPath::getT1 ()
vector_t	hpp::core::KinodynamicPath::getT2 ()
vector_t	hpp::core::KinodynamicPath::getTv ()
vector_t	hpp::core::KinodynamicPath::getA1 ()
virtual std::ostream &	hpp::core::KinodynamicPath::print (std::ostream &os) const
	Print path in a stream. More...
	hpp::core::KinodynamicPath::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...
	hpp::core::KinodynamicPath::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...
	hpp::core::KinodynamicPath::KinodynamicPath (const KinodynamicPath &path)
	Copy constructor. More...
	hpp::core::KinodynamicPath::KinodynamicPath (const KinodynamicPath &path, const ConstraintSetPtr_t &constraints)
	Copy constructor with constraints. More...
void	hpp::core::KinodynamicPath::init (KinodynamicPathPtr_t self)
virtual bool	hpp::core::KinodynamicPath::impl_compute (ConfigurationOut_t result, value_type t) const
	Function evaluation without applying constraints. More...
double	hpp::core::KinodynamicPath::sgnenum (double val) const
int	hpp::core::KinodynamicPath::sgn (double d) const
double	hpp::core::KinodynamicPath::sgnf (double d) const
std::ostream &	hpp::core::operator<< (std::ostream &os, const Path &path)

Detailed Description

KinodynamicPath store a "bang-bang" trajectory depend on time with either 2 segment of constant acceleration or 3 segments with a constant velocity segment.

Path abstraction, implementation and decorators.

In current implementation, only the translation part of the freeflyer joint is considered by this class. The value of all other joint are interpolated between the initial and end value using the interpolate() method.

The current implementation assume that :

• The first joint of the robot is a freeflyer
• The robot have an extra Config Space of dimension >= 6. The first 3 values of the extraConfig are the velocity of the root and the 3 other values are the aceleration.

Typedef Documentation

typedef StraightPath hpp::core::KinodynamicPath::parent_t

Enumeration Type Documentation

enum hpp::core::path::PolynomeBasisType

Enumerator
CanonicalPolynomeBasis
BernsteinBasis

Function Documentation

virtual PathPtr_t hpp::core::KinodynamicPath::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.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

virtual PathPtr_t hpp::core::KinodynamicPath::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.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::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  )

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.

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

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::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  )

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

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

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::createCopy ( const KinodynamicPathPtr_t &  path )

inlinestatic

Create copy and return shared pointer.

Parameters

path	path to copy

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

static KinodynamicPathPtr_t hpp::core::KinodynamicPath::createCopy ( const KinodynamicPathPtr_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 hpp::core::KinodynamicPath::init().

vector_t hpp::core::KinodynamicPath::getA1 ( )

inline

vector_t hpp::core::KinodynamicPath::getT0 ( )

inline

vector_t hpp::core::KinodynamicPath::getT1 ( )

inline

vector_t hpp::core::KinodynamicPath::getT2 ( )

inline

vector_t hpp::core::KinodynamicPath::getTv ( )

inline

virtual bool hpp::core::KinodynamicPath::impl_compute ( ConfigurationOut_t  configuration, value_type  param  ) const

protectedvirtual

Function evaluation without applying constraints.

Returns

true if everything went good.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

virtual PathPtr_t hpp::core::KinodynamicPath::impl_extract ( const interval_t &  paramInterval ) const throw ( projection_error )

virtual

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, return an empty path

Reimplemented from hpp::core::Path.

Reimplemented in hpp::core::KinodynamicOrientedPath.

void hpp::core::KinodynamicPath::init ( KinodynamicPathPtr_t  self )

inlineprotected

Referenced by hpp::core::KinodynamicPath::create(), and hpp::core::KinodynamicPath::createCopy().

hpp::core::KinodynamicPath::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  )

protected

Constructor.

hpp::core::KinodynamicPath::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  )

protected

Constructor with constraints.

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

protected

Copy constructor.

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

protected

Copy constructor with constraints.

std::ostream& hpp::core::operator<< ( std::ostream &  os, const Path &  path  )

inline

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

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

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::StraightPath.

Reimplemented in hpp::core::KinodynamicOrientedPath.

References hpp::pinocchio::displayConfig().

int hpp::core::KinodynamicPath::sgn ( double  d ) const

inlineprotected

double hpp::core::KinodynamicPath::sgnenum ( double  val ) const

inlineprotected

double hpp::core::KinodynamicPath::sgnf ( double  d ) const

inlineprotected

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

inlinevirtual

Destructor.