hpp::core::steeringMethod::CarLike Class Reference

#include <hpp/core/steering-method/car-like.hh>

Inheritance diagram for hpp::core::steeringMethod::CarLike:

Collaboration diagram for hpp::core::steeringMethod::CarLike:

Public Member Functions
virtual	~CarLike ()
void	setWheelJoints (const std::vector< JointPtr_t > wheels)
	Set the wheels. More...
void	computeRadius ()
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 ()
virtual SteeringMethodPtr_t	copy () const =0
	Copy instance and return shared pointer. More...
const Problem &	problem () const
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set. More...
const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...

Protected Member Functions
	CarLike (const Problem &problem)
	Constructor. More...
	CarLike (const Problem &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels)
	Constructor. More...
	CarLike (const CarLike &other)
	Copy constructor. More...
void	init (CarLikeWkPtr_t weak)
	Store weak pointer to itself. More...
Protected Member Functions inherited from hpp::core::SteeringMethod
	SteeringMethod (const Problem &problem)
	Constructor. More...
	SteeringMethod (const SteeringMethod &other)
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0
	create a path between two configurations More...
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself. More...

Protected Attributes
DeviceWkPtr_t	device_
value_type	rho_
JointPtr_t	xy_
JointPtr_t	rz_
size_type	xyId_
size_type	rzId_
std::vector< JointPtr_t >	wheels_
Protected Attributes inherited from hpp::core::SteeringMethod
const Problem &	problem_

Detailed Description

Abstract class that implements various type of trajectories for carlike vehicles

Constructor & Destructor Documentation

~CarLike()

virtual hpp::core::steeringMethod::CarLike::~CarLike ( )

inlinevirtual

CarLike() [1/3]

hpp::core::steeringMethod::CarLike::CarLike ( const Problem &  problem )

protected

Constructor.

CarLike() [2/3]

hpp::core::steeringMethod::CarLike::CarLike ( const Problem &  problem, const value_type  turningRadius, JointPtr_t  xyJoint, JointPtr_t  rzJoint, std::vector< JointPtr_t >  wheels  )

protected

Constructor.

CarLike() [3/3]

hpp::core::steeringMethod::CarLike::CarLike ( const CarLike &  other )

protected

Copy constructor.

Member Function Documentation

computeRadius()

void hpp::core::steeringMethod::CarLike::computeRadius

(

)

Compute the turning radius.

The turning radius is the maximum of the turning radius of each wheel. The turning radius of a wheel is the radius of the circle defined by:

• its center is on the plane x = 0 in the frame of joint RZ,
• the origin of joint RZ is on the circle,
• the bounds of the joint wheel are saturated.

init()

void hpp::core::steeringMethod::CarLike::init ( CarLikeWkPtr_t  weak )

inlineprotected

Store weak pointer to itself.

setWheelJoints()

void hpp::core::steeringMethod::CarLike::setWheelJoints ( const std::vector< JointPtr_t >  wheels )

inline

Set the wheels.

Member Data Documentation

device_

DeviceWkPtr_t hpp::core::steeringMethod::CarLike::device_

protected

rho_

value_type hpp::core::steeringMethod::CarLike::rho_

protected

rz_

JointPtr_t hpp::core::steeringMethod::CarLike::rz_

protected

rzId_

size_type hpp::core::steeringMethod::CarLike::rzId_

protected

wheels_

std::vector<JointPtr_t> hpp::core::steeringMethod::CarLike::wheels_

protected

xy_

JointPtr_t hpp::core::steeringMethod::CarLike::xy_

protected

xyId_

size_type hpp::core::steeringMethod::CarLike::xyId_

protected

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

• include/hpp/core/steering-method/car-like.hh