hpp::core::StraightPath Class Reference

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

Inheritance diagram for hpp::core::StraightPath:

Collaboration diagram for hpp::core::StraightPath:

Public Types
typedef Path	parent_t

Public Member Functions
virtual	~StraightPath ()
	Destructor. More...
virtual PathPtr_t	copy () const
virtual PathPtr_t	copy (const ConstraintSetPtr_t &constraints) const
void	initialConfig (ConfigurationIn_t initial)
void	endConfig (ConfigurationIn_t end)
DevicePtr_t	device () const HPP_CORE_DEPRECATED
	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 ()
	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
PathPtr_t	extract (const value_type &tmin, const value_type &tmax) const
virtual PathPtr_t	reverse () const
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
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
void	timeParameterization (const TimeParameterizationPtr_t &tp, const interval_t &tr)
	Set the time parameterization function. More...

Static Public Member Functions
static StraightPathPtr_t	create (LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
static StraightPathPtr_t	create (LiegroupElementConstRef init, LiegroupElementConstRef end, interval_t interval, ConstraintSetPtr_t constraints=ConstraintSetPtr_t())
static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length)
static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval)
static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, value_type length, ConstraintSetPtr_t constraints)
static StraightPathPtr_t	create (const DevicePtr_t &device, ConfigurationIn_t init, ConfigurationIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
static StraightPathPtr_t	createCopy (const StraightPathPtr_t &path)
static StraightPathPtr_t	createCopy (const StraightPathPtr_t &path, const ConstraintSetPtr_t &constraints)

Protected Member Functions
virtual std::ostream &	print (std::ostream &os) const
	Print path in a stream. More...
	StraightPath (LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval)
	Constructor. More...
	StraightPath (LiegroupSpacePtr_t space, vectorIn_t init, vectorIn_t end, interval_t interval, ConstraintSetPtr_t constraints)
	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 bool	impl_compute (ConfigurationOut_t result, value_type param) const
	Function evaluation without applying constraints. More...
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
PathPtr_t	impl_extract (const interval_t &subInterval) const
Protected Member Functions inherited from hpp::core::Path
	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

Protected Attributes
DevicePtr_t	device_
LiegroupSpacePtr_t	space_
Configuration_t	initial_
Configuration_t	end_
Protected Attributes inherited from hpp::core::Path
interval_t	paramRange_
	Interval of parameters. More...

Detailed Description

Linear interpolation between two configurations

Degrees of freedom are interpolated depending on the type of joint they parameterize:

• linear interpolation for translation joints, bounded rotation joints, and translation part of freeflyer joints,
• angular interpolation for unbounded rotation joints,
• constant angular velocity for SO(3) part of freeflyer joints.

Member Typedef Documentation

parent_t

typedef Path hpp::core::StraightPath::parent_t

Constructor & Destructor Documentation

~StraightPath()

virtual hpp::core::StraightPath::~StraightPath ( )

inlinevirtual

Destructor.

StraightPath() [1/7]

hpp::core::StraightPath::StraightPath ( LiegroupSpacePtr_t  space, vectorIn_t  init, vectorIn_t  end, interval_t  interval  )

protected

Constructor.

StraightPath() [2/7]

hpp::core::StraightPath::StraightPath ( LiegroupSpacePtr_t  space, vectorIn_t  init, vectorIn_t  end, interval_t  interval, ConstraintSetPtr_t  constraints  )

protected

Constructor.

StraightPath() [3/7]

hpp::core::StraightPath::StraightPath ( const DevicePtr_t &  robot, ConfigurationIn_t  init, ConfigurationIn_t  end, interval_t  interval  )

protected

Constructor.

StraightPath() [4/7]

hpp::core::StraightPath::StraightPath ( const DevicePtr_t &  robot, ConfigurationIn_t  init, ConfigurationIn_t  end, value_type  length, ConstraintSetPtr_t  constraints  )

protected

Constructor with constraints.

StraightPath() [5/7]

hpp::core::StraightPath::StraightPath ( const DevicePtr_t &  robot, ConfigurationIn_t  init, ConfigurationIn_t  end, interval_t  interval, ConstraintSetPtr_t  constraints  )

protected

Constructor with constraints.

StraightPath() [6/7]

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

protected

Copy constructor.

StraightPath() [7/7]

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

protected

Copy constructor with constraints.

Member Function Documentation

copy() [1/2]

virtual PathPtr_t hpp::core::StraightPath::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.

Implements hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

copy() [2/2]

virtual PathPtr_t hpp::core::StraightPath::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.

Implements hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

create() [1/6]

static StraightPathPtr_t hpp::core::StraightPath::create ( LiegroupSpacePtr_t  space, vectorIn_t  init, vectorIn_t  end, interval_t  interval, ConstraintSetPtr_t  constraints = ConstraintSetPtr_t()  )

inlinestatic

Create instance and return shared pointer

Parameters

init,end	Start and end configurations of the path,
interval	interval of definition
constraints	the path is subject to.

create() [2/6]

static StraightPathPtr_t hpp::core::StraightPath::create ( LiegroupElementConstRef  init, LiegroupElementConstRef  end, interval_t  interval, ConstraintSetPtr_t  constraints = ConstraintSetPtr_t()  )

inlinestatic

Create instance and return shared pointer

Parameters

init,end	Start and end configurations of the path
interval	interval of definition
constraints	the path is subject to.

create() [3/6]

static StraightPathPtr_t hpp::core::StraightPath::create ( const DevicePtr_t &  device, ConfigurationIn_t  init, ConfigurationIn_t  end, value_type  length  )

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.

create() [4/6]

static StraightPathPtr_t hpp::core::StraightPath::create ( const DevicePtr_t &  device, ConfigurationIn_t  init, ConfigurationIn_t  end, interval_t  interval  )

inlinestatic

Create instance and return shared pointer

Parameters

device	Robot corresponding to configurations
init,end	Start and end configurations of the path
interval	interval of definition.

create() [5/6]

static StraightPathPtr_t hpp::core::StraightPath::create ( const DevicePtr_t &  device, ConfigurationIn_t  init, ConfigurationIn_t  end, value_type  length, 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

create() [6/6]

static StraightPathPtr_t hpp::core::StraightPath::create ( const DevicePtr_t &  device, ConfigurationIn_t  init, ConfigurationIn_t  end, interval_t  interval, 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
interval	interval of definition.
constraints	the path is subject to

createCopy() [1/2]

static StraightPathPtr_t hpp::core::StraightPath::createCopy ( const StraightPathPtr_t &  path )

inlinestatic

Create copy and return shared pointer

Parameters

path	path to copy

createCopy() [2/2]

static StraightPathPtr_t hpp::core::StraightPath::createCopy ( const StraightPathPtr_t &  path, const ConstraintSetPtr_t &  constraints  )

inlinestatic

Create copy and return shared pointer

Parameters

path	path to copy
constraints	the path is subject to

device()

DevicePtr_t hpp::core::StraightPath::device

(

)

const

Return the internal robot.

end()

Configuration_t hpp::core::StraightPath::end ( ) const

inlinevirtual

Get the final configuration.

Implements hpp::core::Path.

endConfig()

void hpp::core::StraightPath::endConfig ( ConfigurationIn_t  end )

inline

Modify end configuration

Parameters

end	new end configuration

Precondition

input configuration should be of the same size as current end configuration

impl_compute()

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

protectedvirtual

Function evaluation without applying constraints.

Returns

true if everything went good.

Implements hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

impl_derivative()

virtual void hpp::core::StraightPath::impl_derivative ( vectorOut_t  result, const value_type &  t, size_type  order  ) const

protectedvirtual

Virtual implementation of derivative.

Reimplemented from hpp::core::Path.

impl_extract()

PathPtr_t hpp::core::StraightPath::impl_extract ( const interval_t &  subInterval ) const

protectedvirtual

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, result is reversed.

Reimplemented from hpp::core::Path.

impl_velocityBound()

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

protectedvirtual

Virtual implementation of velocityBound

Parameters

param0,param1

interval of parameter

Return values

bound

Reimplemented from hpp::core::Path.

init()

void hpp::core::StraightPath::init ( StraightPathPtr_t  self )

inlineprotected

initial()

Configuration_t hpp::core::StraightPath::initial ( ) const

inlinevirtual

Get the initial configuration.

Implements hpp::core::Path.

initialConfig()

void hpp::core::StraightPath::initialConfig ( ConfigurationIn_t  initial )

inline

Modify initial configuration

Parameters

initial

new initial configuration

Precondition

input configuration should be of the same size as current initial configuration

print()

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

inlineprotectedvirtual

Print path in a stream.

Reimplemented from hpp::core::Path.

Reimplemented in hpp::core::KinodynamicPath, and hpp::core::KinodynamicOrientedPath.

Member Data Documentation

device_

DevicePtr_t hpp::core::StraightPath::device_

protected

end_

Configuration_t hpp::core::StraightPath::end_

protected

initial_

Configuration_t hpp::core::StraightPath::initial_

protected

space_

LiegroupSpacePtr_t hpp::core::StraightPath::space_

protected

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

• include/hpp/core/straight-path.hh