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Humanoid Path Planner
hpp-model
Commits
73a23831
Commit
73a23831
authored
Dec 10, 2015
by
Joseph Mirabel
Committed by
Joseph Mirabel
Dec 10, 2015
Browse files
Interpolate, integrate and difference takes into account extra dofs
parent
620a4f1c
Changes
1
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Inline
Side-by-side
include/hpp/model/configuration.hh
View file @
73a23831
...
...
@@ -53,6 +53,8 @@ namespace hpp {
indexConfig
,
indexVelocity
,
result
);
}
const
size_type
&
dim
=
robot
->
extraConfigSpace
().
dimension
();
result
.
tail
(
dim
)
=
configuration
.
tail
(
dim
)
+
velocity
.
tail
(
dim
);
}
/// Interpolate between two configurations of the robot
...
...
@@ -74,6 +76,8 @@ namespace hpp {
(
*
itJoint
)
->
configuration
()
->
interpolate
(
q0
,
q1
,
u
,
indexConfig
,
result
);
}
const
size_type
&
dim
=
robot
->
extraConfigSpace
().
dimension
();
result
.
tail
(
dim
)
=
u
*
q1
.
tail
(
dim
)
+
(
1
-
u
)
*
q0
.
tail
(
dim
);
}
/// Difference between two configurations as a vector
...
...
@@ -95,6 +99,8 @@ namespace hpp {
(
*
itJoint
)
->
configuration
()
->
difference
(
q1
,
q2
,
indexConfig
,
indexVelocity
,
result
);
}
const
size_type
&
dim
=
robot
->
extraConfigSpace
().
dimension
();
result
.
tail
(
dim
)
=
q2
.
tail
(
dim
)
-
q1
.
tail
(
dim
);
}
/// Normalize configuration
...
...
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