hpp::core::steeringMethod::Snibud Class Reference

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

Inheritance diagram for hpp::core::steeringMethod::Snibud:

Collaboration diagram for hpp::core::steeringMethod::Snibud:

Public Member Functions
virtual SteeringMethodPtr_t	copy () const
	Copy instance and return shared pointer.
virtual PathPtr_t	impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	create a path between two configurations
Public Member Functions inherited from hpp::core::steeringMethod::CarLike
virtual	~CarLike ()
void	setWheelJoints (const std::vector< JointPtr_t > wheels)
	Set the wheels.
void	turningRadius (const value_type &rho)
value_type	turningRadius () 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 ()
ProblemConstPtr_t	problem () const
void	constraints (const ConstraintSetPtr_t &constraints)
	Set constraint set.
const ConstraintSetPtr_t &	constraints () const
	Get constraint set.

Static Public Member Functions
static SnibudPtr_t	createWithGuess (const ProblemConstPtr_t &problem)
static SnibudPtr_t	create (const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels=std::vector< JointPtr_t >())
static SnibudPtr_t	createCopy (const SnibudPtr_t &other)
	Copy instance and return shared pointer.

Protected Member Functions
	Snibud (const ProblemConstPtr_t &problem)
	Constructor.
	Snibud (const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels)
	Constructor.
	Snibud (const Snibud &other)
	Copy constructor.
void	init (SnibudWkPtr_t weak)
	Store weak pointer to itself.
Protected Member Functions inherited from hpp::core::steeringMethod::CarLike
	CarLike (const ProblemConstPtr_t &problem)
	Constructor.
	CarLike (const ProblemConstPtr_t &problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels)
	Constructor.
	CarLike (const CarLike &other)
	Copy constructor.
void	init (CarLikeWkPtr_t weak)
	Store weak pointer to itself.
Protected Member Functions inherited from hpp::core::SteeringMethod
	SteeringMethod (const ProblemConstPtr_t &problem)
	Constructor.
	SteeringMethod (const SteeringMethod &other)
void	init (SteeringMethodWkPtr_t weak)
	Store weak pointer to itself.

Additional Inherited Members
Protected Attributes inherited from hpp::core::steeringMethod::CarLike
DeviceWkPtr_t	device_
value_type	rho_
	Turning radius.
JointPtr_t	xy_
JointPtr_t	rz_
size_type	xyId_
size_type	rzId_
std::vector< JointPtr_t >	wheels_

Detailed Description

Steering method that creates backward Dubins paths

Constructor & Destructor Documentation

Snibud() [1/3]

hpp::core::steeringMethod::Snibud::Snibud ( const ProblemConstPtr_t & problem )

protected

Constructor.

Snibud() [2/3]

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

protected

Constructor.

Snibud() [3/3]

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

protected

Copy constructor.

Member Function Documentation

copy()

virtual SteeringMethodPtr_t hpp::core::steeringMethod::Snibud::copy ( ) const

inlinevirtual

Copy instance and return shared pointer.

Implements hpp::core::SteeringMethod.

create()

SnibudPtr_t hpp::core::steeringMethod::Snibud::create ( const ProblemConstPtr_t & problem, const value_type turningRadius, JointPtr_t xyJoint, JointPtr_t rzJoint, std::vector< JointPtr_t > wheels = std::vector<JointPtr_t>() )

inlinestatic

Create an instance

This constructor does no assumption.

createCopy()

SnibudPtr_t hpp::core::steeringMethod::Snibud::createCopy ( const SnibudPtr_t & other )

inlinestatic

Copy instance and return shared pointer.

createWithGuess()

SnibudPtr_t hpp::core::steeringMethod::Snibud::createWithGuess ( const ProblemConstPtr_t & problem )

inlinestatic

Create an instance

This constructor assumes that:

• the 2 parameters of the configurations corresponds to the XY translation joint,
• the 2 following parameters corresponds to the RZ unbounded rotation joint. Use CarLike::setWheelJoints to set the wheel joints.

impl_compute()

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

virtual

create a path between two configurations

Implements hpp::core::SteeringMethod.

init()

void hpp::core::steeringMethod::Snibud::init ( SnibudWkPtr_t weak )

inlineprotected

Store weak pointer to itself.

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

• include/hpp/core/steering-method/snibud.hh