35 #ifndef DART_PLANNING_PATH_HPP_
36 #define DART_PLANNING_PATH_HPP_
59 virtual Eigen::VectorXd
getConfig(
double s)
const = 0;
74 Path(
const std::list<Eigen::VectorXd>& path,
double maxDeviation = 0.0);
78 Eigen::VectorXd
getConfig(
double s)
const;
virtual ~PathSegment()
Definition: Path.hpp:51
double position
Definition: Path.hpp:65
virtual Eigen::VectorXd getCurvature(double s) const =0
virtual Eigen::VectorXd getTangent(double s) const =0
virtual PathSegment * clone() const =0
double length
Definition: Path.hpp:68
double getLength() const
Definition: Path.hpp:55
virtual std::list< double > getSwitchingPoints() const =0
PathSegment(double length=0.0)
Definition: Path.hpp:47
virtual Eigen::VectorXd getConfig(double s) const =0
Eigen::VectorXd getTangent(double s) const
Definition: Path.cpp:332
double getNextSwitchingPoint(double s, bool &discontinuity) const
Definition: Path.cpp:344
double getLength() const
Definition: Path.cpp:307
std::list< std::pair< double, bool > > getSwitchingPoints() const
Definition: Path.cpp:363
Path(const std::list< Eigen::VectorXd > &path, double maxDeviation=0.0)
~Path()
Definition: Path.cpp:297
Eigen::VectorXd getCurvature(double s) const
Definition: Path.cpp:338
std::list< std::pair< double, bool > > switchingPoints
Definition: Path.hpp:87
PathSegment * getPathSegment(double &s) const
Definition: Path.cpp:312
Eigen::VectorXd getConfig(double s) const
Definition: Path.cpp:326
std::list< PathSegment * > pathSegments
Definition: Path.hpp:88
double length
Definition: Path.hpp:86
Definition: BulletCollisionDetector.cpp:65