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)
void	trajectory (const DifferentiableFunctionPtr_t &eeTraj, const interval_t &timeRange)
const DifferentiableFunctionPtr_t &	trajectory () const
const interval_t &	timeRange () const
core::SteeringMethodPtr_t	copy () const
PathPtr_t	projectedPath (vectorIn_t times, matrixIn_t configs) 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
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)
static PathPtr_t	makePiecewiseLinearTrajectory (matrixIn_t points, vectorIn_t weights)

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)
	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

interval_t

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

Constructor & Destructor Documentation

EndEffectorTrajectory() [1/2]

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

inlineprotected

EndEffectorTrajectory() [2/2]

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

inlineprotected

Member Function Documentation

copy()

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

inlinevirtual

Implements hpp::core::SteeringMethod.

create()

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

inlinestatic

impl_compute()

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

protectedvirtual

Implements hpp::core::SteeringMethod.

makePiecewiseLinearTrajectory()

static PathPtr_t hpp::manipulation::steeringMethod::EndEffectorTrajectory::makePiecewiseLinearTrajectory ( matrixIn_t  points, vectorIn_t  weights  )

static

Build a trajectory in SE(3).

Parameters

points	a Nx7 matrix whose rows corresponds to a pose.
weights	a 6D vector, weights to be applied when computing the distance between two SE3 points.

projectedPath()

PathPtr_t hpp::manipulation::steeringMethod::EndEffectorTrajectory::projectedPath	(	vectorIn_t	times,
		matrixIn_t	configs
	)		const

Computes an core::InterpolatedPath from the provided interpolation points.

Parameters

times	the time of each configuration
configs	each column correspond to a configuration

timeRange()

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

inline

trajectory() [1/3]

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.

trajectory() [2/3]

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.

trajectory() [3/3]

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

inline

trajectoryConstraint() [1/2]

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

(

const constraints::ImplicitPtr_t &

ic

)

Set the constraint whose right hand side will vary.

trajectoryConstraint() [2/2]

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

inline

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

• include/hpp/manipulation/steering-method/end-effector-trajectory.hh