hpp::core::KinodynamicDistance Class Reference

#include <hpp/core/kinodynamic-distance.hh>

Inheritance diagram for hpp::core::KinodynamicDistance:

Collaboration diagram for hpp::core::KinodynamicDistance:

Public Member Functions
virtual DistancePtr_t	clone () const
const DevicePtr_t &	robot () const
	Get robot.
Public Member Functions inherited from hpp::core::Distance
value_type	operator() (ConfigurationIn_t q1, ConfigurationIn_t q2) const
value_type	operator() (NodePtr_t n1, NodePtr_t n2) const
value_type	compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
value_type	compute (NodePtr_t n1, NodePtr_t n2) const
virtual	~Distance ()

Static Public Member Functions
static KinodynamicDistancePtr_t	create (const DevicePtr_t &robot)
static KinodynamicDistancePtr_t	createFromProblem (const ProblemConstPtr_t &problem)
static KinodynamicDistancePtr_t	createCopy (const KinodynamicDistancePtr_t &distance)

Protected Member Functions
	KinodynamicDistance (const DevicePtr_t &robot)
	KinodynamicDistance (const ProblemConstPtr_t &problem)
	KinodynamicDistance (const KinodynamicDistance &distance)
void	init (KinodynamicDistanceWkPtr_t self)
virtual value_type	impl_distance (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	Derived class should implement this function.
double	computeMinTime (double p1, double p2, double v1, double v2) const
Protected Member Functions inherited from hpp::core::Distance
	Distance ()
virtual value_type	impl_distance (NodePtr_t n1, NodePtr_t n2) const
	HPP_SERIALIZABLE ()

Detailed Description

This class computed the Distance between two states as the minimal time required to connect this two states with a "bang-bang" trajectory, given velocity and acceleration bounds.

This time is the same as the length() of a KinodynamicPath computed between this two states by the steeringMethod::Kinodynamic.

This class require that the dimension of the extraConfigSpace is at least 6 and store the velocity and acceleration of the root.

Constructor & Destructor Documentation

KinodynamicDistance() [1/3]

hpp::core::KinodynamicDistance::KinodynamicDistance ( const DevicePtr_t & robot )

protected

KinodynamicDistance() [2/3]

hpp::core::KinodynamicDistance::KinodynamicDistance ( const ProblemConstPtr_t & problem )

protected

KinodynamicDistance() [3/3]

hpp::core::KinodynamicDistance::KinodynamicDistance ( const KinodynamicDistance & distance )

protected

Member Function Documentation

clone()

virtual DistancePtr_t hpp::core::KinodynamicDistance::clone ( ) const

virtual

Implements hpp::core::Distance.

computeMinTime()

double hpp::core::KinodynamicDistance::computeMinTime ( double p1, double p2, double v1, double v2 ) const

protected

create()

KinodynamicDistancePtr_t hpp::core::KinodynamicDistance::create ( const DevicePtr_t & robot )

static

createCopy()

KinodynamicDistancePtr_t hpp::core::KinodynamicDistance::createCopy ( const KinodynamicDistancePtr_t & distance )

static

createFromProblem()

KinodynamicDistancePtr_t hpp::core::KinodynamicDistance::createFromProblem ( const ProblemConstPtr_t & problem )

static

impl_distance()

virtual value_type hpp::core::KinodynamicDistance::impl_distance ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

protectedvirtual

Derived class should implement this function.

Implements hpp::core::Distance.

init()

void hpp::core::KinodynamicDistance::init ( KinodynamicDistanceWkPtr_t self )

protected

robot()

const DevicePtr_t & hpp::core::KinodynamicDistance::robot ( ) const

inline

Get robot.

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

• include/hpp/core/kinodynamic-distance.hh