#include <hpp/core/path.hh>

Inheritance diagram for hpp::core::Path:

[legend]

Public Member Functions
Construction, destruction, copy
virtual	~Path ()
	Destructor. More...

virtual PathPtr_t	copy () const =0
	Return a shared pointer to a copy of this. More...

virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const =0

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...

Extraction/Reversion of a sub-path
PathPtr_t	extract (const interval_t &subInterval) const

PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const

virtual PathPtr_t	reverse () const

Evalutation of the path
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

Configuration_t	eval (const value_type &time, bool &success) const

bool	eval (ConfigurationOut_t result, const value_type &time) const

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

void	velocityBound (vectorOut_t result, const value_type &t0, const value_type &t1) const

Path definition
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...

virtual Configuration_t	initial () const =0
	Get the initial configuration. More...

virtual Configuration_t	end () const =0
	Get the final configuration. More...

const ConstraintSetPtr_t &	constraints () const
	Get constraints the path is subject to. More...

Time parameterizarion
Time parameterization is handled by this class so child classes need not to handle it.
const interval_t &	paramRange () const

void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize, const ConstraintSetPtr_t &constraints)

	Path (const interval_t &interval, size_type outputSize, size_type outputDerivativeSize)

	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)

void	constraints (const ConstraintSetPtr_t &constraint)

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 bool	impl_compute (ConfigurationOut_t configuration, value_type param) const =0
	Function evaluation without applying constraints. More...

virtual void	impl_derivative (vectorOut_t derivative, const value_type &param, size_type order) const

virtual void	impl_velocityBound (vectorOut_t bound, const value_type &param0, const value_type &param1) const

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

Protected Attributes
interval_t	paramRange_
	Interval of parameters. More...

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

Detailed Description

Abstraction of paths: mapping from time to configuration space

A path \( p \) is defined by:

\begin{eqnarray*} p : [t_0, t_1] &\to & \mathcal{C} \\ t &\mapsto & constraints.apply( q(t) ) \end{eqnarray*}

where

\( [t_0, t_1] \) is given by timeRange
\( q(t) \) is the child class implementation of impl_compute
constraints.apply corresponds to calling Constraint::apply to constraints

Optionally, it is possible to time-parameterize the path with a function \( s \). By default, \( s \) is the identity. The model becomes:

\begin{eqnarray*} p : [t_0, t_1] &\to & \mathcal{C} \\ t &\mapsto & constraints.apply( q(s(t)) ) \end{eqnarray*}

where \( s \) is the timeParameterization, from timeRange to paramRange.

Constructor & Destructor Documentation

◆ ~Path()

virtual hpp::core::Path::~Path ( )

inlinevirtual

Destructor.

◆ Path() [1/4]

hpp::core::Path::Path	(	const interval_t &	interval,
		size_type	outputSize,
		size_type	outputDerivativeSize,
		const ConstraintSetPtr_t &	constraints
	)

protected

Constructor

Parameters

interval	interval of definition of the path,
outputSize	size of the output configuration,
outputDerivativeSize	number of degrees of freedom of the underlying robot
constraints	constraints the set is subject to, constraints are solved at each evaluation of the output configuration.

Note: Constraints are copied.

◆ Path() [2/4]

hpp::core::Path::Path	(	const interval_t &	interval,
		size_type	outputSize,
		size_type	outputDerivativeSize
	)

protected

Constructor

Parameters

interval	interval of definition of the path,
outputSize	size of the output configuration,
outputDerivativeSize	number of degrees of freedom of the underlying robot

◆ Path() [3/4]

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

protected

Copy constructor.

◆ Path() [4/4]

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

protected

Copy constructor with constraints.

Member Function Documentation

◆ as() [1/2]

template<class T >

boost::shared_ptr<T> hpp::core::Path::as ( void )

inline

Static cast into a derived type.

◆ as() [2/2]

template<class T >

boost::shared_ptr<const T> hpp::core::Path::as ( void ) const

inline

Static cast into a derived type.

◆ at()

bool hpp::core::Path::at	(	const value_type &	time,
		ConfigurationOut_t	result
	)		const

inline

Get the configuration at a parameter without applying the constraints.

◆ checkPath()

virtual void hpp::core::Path::checkPath ( ) const

protectedvirtual

Should be called by child classes after having init.

◆ configAtParam()

Configuration_t hpp::core::Path::configAtParam	(	const value_type &	param,
		bool &	success
	)		const

inlineprotected

◆ constraints() [1/2]

const ConstraintSetPtr_t& hpp::core::Path::constraints ( ) const

inline

Get constraints the path is subject to.

◆ constraints() [2/2]

void hpp::core::Path::constraints ( const ConstraintSetPtr_t & constraint )

inlineprotected

Set the constraints

Warning: this method is protected for child classes that need to initialize themselves before being sure that the initial and end configuration satisfy the constraints

◆ copy() [1/2]

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

pure virtual

Return a shared pointer to a copy of this.

Implemented in hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::StraightPath, hpp::core::InterpolatedPath, hpp::core::KinodynamicPath, hpp::core::DubinsPath, hpp::core::KinodynamicOrientedPath, hpp::core::ReedsSheppPath, hpp::core::path::Hermite, hpp::core::PathVector, hpp::core::steeringMethod::ConstantCurvature, and hpp::core::SubchainPath.

◆ copy() [2/2]

virtual PathPtr_t hpp::core::Path::copy ( const ConstraintSetPtr_t & constraints ) const

pure virtual

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.

Implemented in hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::StraightPath, hpp::core::InterpolatedPath, hpp::core::KinodynamicPath, hpp::core::DubinsPath, hpp::core::KinodynamicOrientedPath, hpp::core::ReedsSheppPath, hpp::core::path::Hermite, hpp::core::PathVector, hpp::core::steeringMethod::ConstantCurvature, and hpp::core::SubchainPath.

◆ derivative()

void hpp::core::Path::derivative	(	vectorOut_t	result,
		const value_type &	time,
		size_type	order
	)		const

Get derivative with respect to parameter at given parameter

Parameters

time	value of the time in the definition interval,
order	order of the derivative

Return values

result derivative. Should be allocated and of correct size.

Warning: the method is not implemented in this class and throws if called without being implemented in the derived class.

Note: unless otherwise stated, this method is not compatible with constraints. The derivative of the non-constrained path will be computed.

◆ end()

virtual Configuration_t hpp::core::Path::end ( ) const

pure virtual

Get the final configuration.

Implemented in hpp::core::StraightPath, hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::InterpolatedPath, hpp::core::DubinsPath, hpp::core::ReedsSheppPath, hpp::core::PathVector, hpp::core::path::Hermite, hpp::core::SubchainPath, and hpp::core::steeringMethod::ConstantCurvature.

◆ eval() [1/2]

Configuration_t hpp::core::Path::eval	(	const value_type &	time,
		bool &	success
	)		const

inline

◆ eval() [2/2]

bool hpp::core::Path::eval	(	ConfigurationOut_t	result,
		const value_type &	time
	)		const

inline

◆ extract() [1/2]

PathPtr_t hpp::core::Path::extract ( const interval_t & subInterval ) const

Parameters

subInterval interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed.

Exceptions

projection_error is thrown when an end configuration of the returned path could not be computed due to projection failure.

◆ extract() [2/2]

PathPtr_t hpp::core::Path::extract	(	const value_type &	tmin,
		const value_type &	tmax
	)		const

inline

Parameters

subInterval interval of definition of the extract path If upper bound of subInterval is smaller than lower bound, result is reversed.

Exceptions

projection_error is thrown when an end configuration of the returned path could not be computed due to projection failure.

◆ impl_compute()

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

protectedpure virtual

Function evaluation without applying constraints.

Returns: true if everything went good.

Implemented in hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::StraightPath, hpp::core::InterpolatedPath, hpp::core::PathVector, hpp::core::KinodynamicPath, hpp::core::KinodynamicOrientedPath, hpp::core::steeringMethod::ConstantCurvature, and hpp::core::SubchainPath.

◆ impl_derivative()

virtual void hpp::core::Path::impl_derivative	(	vectorOut_t	derivative,
		const value_type &	param,
		size_type	order
	)		const

inlineprotectedvirtual

Virtual implementation of derivative

Parameters

param	parameter within paramRange
order	order of derivation.

Return values

derivative

Reimplemented in hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::StraightPath, hpp::core::InterpolatedPath, hpp::core::PathVector, hpp::core::ReedsSheppPath, and hpp::core::steeringMethod::ConstantCurvature.

◆ impl_extract()

virtual PathPtr_t hpp::core::Path::impl_extract ( const interval_t & paramInterval ) const

protectedvirtual

Virtual implementation of extract.

Reimplemented in hpp::core::StraightPath, hpp::core::InterpolatedPath, hpp::core::PathVector, hpp::core::KinodynamicOrientedPath, hpp::core::steeringMethod::ConstantCurvature, and hpp::core::KinodynamicPath.

◆ impl_velocityBound()

virtual void hpp::core::Path::impl_velocityBound	(	vectorOut_t	bound,
		const value_type &	param0,
		const value_type &	param1
	)		const

inlineprotectedvirtual

Virtual implementation of velocityBound

Parameters

param0,param1 interval of parameter

Return values

bound

Reimplemented in hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::StraightPath, hpp::core::InterpolatedPath, and hpp::core::steeringMethod::ConstantCurvature.

◆ init()

void hpp::core::Path::init ( const PathWkPtr_t & self )

protected

Store weak pointer to itself

should be called at construction of derived class instances

◆ initial()

virtual Configuration_t hpp::core::Path::initial ( ) const

pure virtual

Get the initial configuration.

Implemented in hpp::core::StraightPath, hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::InterpolatedPath, hpp::core::DubinsPath, hpp::core::ReedsSheppPath, hpp::core::PathVector, hpp::core::path::Hermite, hpp::core::SubchainPath, and hpp::core::steeringMethod::ConstantCurvature.

◆ length()

virtual value_type hpp::core::Path::length ( ) const

inlinevirtual

Get length of definition interval.

◆ operator()() [1/3]

Configuration_t hpp::core::Path::operator() ( const value_type & time ) const

inline

Deprecated:: Use operator()(value_type, bool)

◆ operator()() [2/3]

Configuration_t hpp::core::Path::operator()	(	const value_type &	time,
		bool &	success
	)		const

inline

◆ operator()() [3/3]

bool hpp::core::Path::operator()	(	ConfigurationOut_t	result,
		const value_type &	time
	)		const

inline

◆ outputDerivativeSize()

size_type hpp::core::Path::outputDerivativeSize ( ) const

inline

Get size of velocity.

◆ outputSize()

size_type hpp::core::Path::outputSize ( ) const

inline

Get size of configuration space.

◆ paramLength()

value_type hpp::core::Path::paramLength ( ) const

inlineprotected

◆ paramRange()

const interval_t& hpp::core::Path::paramRange ( ) const

inline

Get interval of parameters.

Returns: the result of applying the timeParameterization to timeRange().

Note: The time parameterization defaults to identity.

◆ print()

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

protectedvirtual

Print interval of definition (and of parameters if relevant) in a stream

Reimplemented in hpp::core::path::Spline< _PolynomeBasis, _Order >, hpp::core::path::Spline< BernsteinBasis, 3 >, hpp::core::StraightPath, hpp::core::InterpolatedPath, hpp::core::KinodynamicPath, hpp::core::DubinsPath, hpp::core::PathVector, hpp::core::path::Hermite, hpp::core::ReedsSheppPath, hpp::core::KinodynamicOrientedPath, hpp::core::SubchainPath, and hpp::core::steeringMethod::ConstantCurvature.

◆ reverse()

virtual PathPtr_t hpp::core::Path::reverse ( ) const

virtual

Reversion of a path

Returns: a new path that is this one reversed.

Reimplemented in hpp::core::InterpolatedPath.

◆ timeParameterization() [1/2]

void hpp::core::Path::timeParameterization	(	const TimeParameterizationPtr_t &	tp,
		const interval_t &	tr
	)

inline

Set the time parameterization function.

◆ timeParameterization() [2/2]

const TimeParameterizationPtr_t& hpp::core::Path::timeParameterization ( ) const

inlineprotected

◆ timeRange() [1/2]

const interval_t& hpp::core::Path::timeRange ( ) const

inline

Get interval of definition.

◆ timeRange() [2/2]

void hpp::core::Path::timeRange ( const interval_t & timeRange )

inlineprotected

◆ velocityBound()

void hpp::core::Path::velocityBound	(	vectorOut_t	result,
		const value_type &	t0,
		const value_type &	t1
	)		const

inline

Get an upper bound of the velocity on a sub-interval. The result is a coefficient-wise.

Parameters

t0	begin of the interval
t1	end of the interval

Return values

result maximal derivative on the sub-interval. Should be allocated and of correct size.

Warning: the method is not implemented in this class and throws if called without being implemented in the derived class.

Note: unless otherwise stated, this method is not compatible with constraints. The derivative of the non-constrained path will be computed.

Friends And Related Function Documentation

◆ operator<<

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

friend

Member Data Documentation

◆ paramRange_

interval_t hpp::core::Path::paramRange_

protected

Interval of parameters.

The documentation for this class was generated from the following file:

include/hpp/core/path.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ~Path()

◆ Path() [1/4]

◆ Path() [2/4]

◆ Path() [3/4]

◆ Path() [4/4]

Member Function Documentation

◆ as() [1/2]

◆ as() [2/2]

◆ at()

◆ checkPath()

◆ configAtParam()

◆ constraints() [1/2]

◆ constraints() [2/2]

◆ copy() [1/2]

◆ copy() [2/2]

◆ derivative()

◆ end()

◆ eval() [1/2]

◆ eval() [2/2]

◆ extract() [1/2]

◆ extract() [2/2]

◆ impl_compute()

◆ impl_derivative()

◆ impl_extract()

◆ impl_velocityBound()

◆ init()

◆ initial()

◆ length()

◆ operator()() [1/3]

◆ operator()() [2/3]

◆ operator()() [3/3]

◆ outputDerivativeSize()

◆ outputSize()

◆ paramLength()

◆ paramRange()

◆ print()

◆ reverse()

◆ timeParameterization() [1/2]

◆ timeParameterization() [2/2]

◆ timeRange() [1/2]

◆ timeRange() [2/2]

◆ velocityBound()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ paramRange_