hpp::core::PathProjector Class Reference

This class projects a path using constraints. More...

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

Inheritance diagram for hpp::core::PathProjector:

Public Types
typedef hpp::core::Path	Path
typedef hpp::core::PathPtr_t	PathPtr_t
typedef hpp::core::PathVector	PathVector
typedef hpp::core::PathVectorPtr_t	PathVectorPtr_t

Public Member Functions
virtual	~PathProjector ()
	Destructor.
bool	apply (const PathPtr_t &path, PathPtr_t &projection) const

Protected Member Functions
	PathProjector (const DistancePtr_t &distance, const SteeringMethodPtr_t &steeringMethod, bool keepSteeringMethodConstraints=false)
virtual bool	impl_apply (const PathPtr_t &path, PathPtr_t &projection) const =0
	Method to be reimplemented by inherited class.
value_type	d (ConfigurationIn_t q1, ConfigurationIn_t q2) const
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Protected Attributes
SteeringMethodPtr_t	steeringMethod_

Detailed Description

This class projects a path using constraints.

Member Typedef Documentation

Path

typedef hpp::core::Path hpp::core::PathProjector::Path

PathPtr_t

typedef hpp::core::PathPtr_t hpp::core::PathProjector::PathPtr_t

PathVector

typedef hpp::core::PathVector hpp::core::PathProjector::PathVector

PathVectorPtr_t

typedef hpp::core::PathVectorPtr_t hpp::core::PathProjector::PathVectorPtr_t

Constructor & Destructor Documentation

~PathProjector()

virtual hpp::core::PathProjector::~PathProjector ( )

virtual

Destructor.

PathProjector()

hpp::core::PathProjector::PathProjector ( const DistancePtr_t & distance, const SteeringMethodPtr_t & steeringMethod, bool keepSteeringMethodConstraints = false )

protected

Constructor

distance distance metric between configurations steeringMethod steering method used to build new paths. The instance is copied. copySteeringMethodConstraints whether to keep the constraints of the input steering method.

Member Function Documentation

apply()

bool hpp::core::PathProjector::apply	(	const PathPtr_t &	path,
		PathPtr_t &	projection ) const

Apply the constraints to the path.

Parameters

[in]	the	input path,
[out]	the	output path.

Returns

True if projection succeded

d()

value_type hpp::core::PathProjector::d ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

protected

impl_apply()

virtual bool hpp::core::PathProjector::impl_apply ( const PathPtr_t & path, PathPtr_t & projection ) const

protectedpure virtual

Method to be reimplemented by inherited class.

Implemented in hpp::core::pathProjector::Dichotomy, hpp::core::pathProjector::Global, hpp::core::pathProjector::Progressive, and hpp::core::pathProjector::RecursiveHermite.

steer()

PathPtr_t hpp::core::PathProjector::steer ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

protected

Member Data Documentation

steeringMethod_

SteeringMethodPtr_t hpp::core::PathProjector::steeringMethod_

protected

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

• include/hpp/core/path-projector.hh