hpp::manipulation::steeringMethod::EndEffectorTrajectory Class Reference

Build StraightPath constrained by a varying right hand side constraint. More...

#include <hpp/manipulation/steering-method/end-effector-trajectory.hh>

Inheritance diagram for hpp::manipulation::steeringMethod::EndEffectorTrajectory:

Collaboration diagram for hpp::manipulation::steeringMethod::EndEffectorTrajectory:

Public Types
typedef core::interval_t	interval_t

Public Member Functions
void	trajectoryConstraint (const constraints::ImplicitPtr_t &ic)
	Set the constraint whose right hand side will vary. More...
const constraints::ImplicitPtr_t &	trajectoryConstraint ()
void	trajectory (const PathPtr_t &eeTraj, bool se3Output)
	Set the right hand side of the function from a path. More...
void	trajectory (const DifferentiableFunctionPtr_t &eeTraj, const interval_t &timeRange)
	Set the right hand side of the function from another function. More...
const DifferentiableFunctionPtr_t &	trajectory () const
const interval_t &	timeRange () const
core::SteeringMethodPtr_t	copy () const
Public Member Functions inherited from hpp::core::SteeringMethod
PathPtr_t	operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
virtual	~SteeringMethod ()
const Problem &	problem () const
void	constraints (const ConstraintSetPtr_t &constraints)
const ConstraintSetPtr_t &	constraints () const
void	constraints (const ConstraintSetPtr_t &constraints)
const ConstraintSetPtr_t &	constraints () const

Static Public Member Functions
static EndEffectorTrajectoryPtr_t	create (const core::Problem &problem)

Protected Member Functions
	EndEffectorTrajectory (const core::Problem &problem)
	EndEffectorTrajectory (const EndEffectorTrajectory &other)
PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
Protected Member Functions inherited from hpp::core::SteeringMethod
	SteeringMethod (const Problem &problem)
	SteeringMethod (const SteeringMethod &other)
void	init (SteeringMethodWkPtr_t weak)

Additional Inherited Members
Protected Attributes inherited from hpp::core::SteeringMethod
const Problem &	problem_

Detailed Description

Build StraightPath constrained by a varying right hand side constraint.

Member Typedef Documentation

typedef core::interval_t hpp::manipulation::steeringMethod::EndEffectorTrajectory::interval_t

Constructor & Destructor Documentation

hpp::manipulation::steeringMethod::EndEffectorTrajectory::EndEffectorTrajectory ( const core::Problem &  problem )

inlineprotected

hpp::manipulation::steeringMethod::EndEffectorTrajectory::EndEffectorTrajectory ( const EndEffectorTrajectory &  other )

inlineprotected

References impl_compute().

Member Function Documentation

core::SteeringMethodPtr_t hpp::manipulation::steeringMethod::EndEffectorTrajectory::copy ( ) const

inlinevirtual

Implements hpp::core::SteeringMethod.

static EndEffectorTrajectoryPtr_t hpp::manipulation::steeringMethod::EndEffectorTrajectory::create ( const core::Problem &  problem )

inlinestatic

PathPtr_t hpp::manipulation::steeringMethod::EndEffectorTrajectory::impl_compute ( ConfigurationIn_t  q1, ConfigurationIn_t  q2  ) const

protectedvirtual

Implements hpp::core::SteeringMethod.

const interval_t& hpp::manipulation::steeringMethod::EndEffectorTrajectory::timeRange ( ) const

inline

void hpp::manipulation::steeringMethod::EndEffectorTrajectory::trajectory	(	const PathPtr_t &	eeTraj,
		bool	se3Output
	)

Set the right hand side of the function from a path.

Parameters

se3Output

set to True if the output of path must be understood as SE3.

void hpp::manipulation::steeringMethod::EndEffectorTrajectory::trajectory	(	const DifferentiableFunctionPtr_t &	eeTraj,
		const interval_t &	timeRange
	)

Set the right hand side of the function from another function.

Parameters

eeTraj	a function whose input space is of dimension 1.
timeRange	the input range of eeTraj.

const DifferentiableFunctionPtr_t& hpp::manipulation::steeringMethod::EndEffectorTrajectory::trajectory ( ) const

inline

void hpp::manipulation::steeringMethod::EndEffectorTrajectory::trajectoryConstraint

(

const constraints::ImplicitPtr_t &

ic

)

Set the constraint whose right hand side will vary.

const constraints::ImplicitPtr_t& hpp::manipulation::steeringMethod::EndEffectorTrajectory::trajectoryConstraint ( )

inline