hpp::core::SteeringMethod Class Reference

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

Inheritance diagram for hpp::core::SteeringMethod:

Public Member Functions
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.
ProblemConstPtr_t	problem () const
Constraints applicable to the robot.
These constraints are not automatically taken into account. Child class can use it if they need.
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set.
const ConstraintSetPtr_t &	constraints () const
	Get constraint set.

Protected Member Functions
	SteeringMethod (const ProblemConstPtr_t &problem)
	Constructor.
	SteeringMethod (const SteeringMethod &other)
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const =0
	create a path between two configurations
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself.

Detailed Description

Steering method

A steering method creates paths between pairs of configurations for a robot. They are usually used to take into account nonholonomic constraints of some robots

Constructor & Destructor Documentation

~SteeringMethod()

virtual hpp::core::SteeringMethod::~SteeringMethod ( )

inlinevirtual

SteeringMethod() [1/2]

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

inlineprotected

Constructor.

SteeringMethod() [2/2]

hpp::core::SteeringMethod::SteeringMethod ( const SteeringMethod & other )

inlineprotected

Copy constructor

Constraints are copied

Member Function Documentation

constraints() [1/2]

const ConstraintSetPtr_t & hpp::core::SteeringMethod::constraints ( ) const

inline

Get constraint set.

constraints() [2/2]

void hpp::core::SteeringMethod::constraints ( const ConstraintSetPtr_t & constraints )

inline

Set constraint set.

copy()

virtual SteeringMethodPtr_t hpp::core::SteeringMethod::copy ( ) const

pure virtual

Copy instance and return shared pointer.

Implemented in hpp::core::steeringMethod::Dubins, hpp::core::steeringMethod::Hermite, hpp::core::steeringMethod::Interpolated, hpp::core::steeringMethod::Kinodynamic, hpp::core::steeringMethod::ReedsShepp, hpp::core::steeringMethod::Snibud, hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >, hpp::core::steeringMethod::Spline< PolynomeBasis, SplineOrder >, and hpp::core::steeringMethod::Straight.

impl_compute()

virtual PathPtr_t hpp::core::SteeringMethod::impl_compute ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

protectedpure virtual

create a path between two configurations

Implemented in hpp::core::steeringMethod::Dubins, hpp::core::steeringMethod::Hermite, hpp::core::steeringMethod::Interpolated, hpp::core::steeringMethod::Kinodynamic, hpp::core::steeringMethod::ReedsShepp, hpp::core::steeringMethod::Snibud, hpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder >, hpp::core::steeringMethod::Spline< PolynomeBasis, SplineOrder >, and hpp::core::steeringMethod::Straight.

init()

void hpp::core::SteeringMethod::init ( SteeringMethodWkPtr_t weak )

inlineprotected

Store weak pointer to itself.

operator()()

PathPtr_t hpp::core::SteeringMethod::operator() ( ConfigurationIn_t q1, ConfigurationIn_t q2 ) const

inline

create a path between two configurations

Returns

a Path from q1 to q2 if found. An empty Path if Path could not be built.

Note

if q1 == q2, the steering method should not return an empty shared pointer.

problem()

ProblemConstPtr_t hpp::core::SteeringMethod::problem ( ) const

inline

steer()

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

inline

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

• include/hpp/core/steering-method.hh