TGT.h
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00001 // -*- mode: c++; indent-tabs-mode: nil; c-basic-offset: 4; tab-width: 4; -*-
00002 #ifndef __TGT_H__
00003 #define __TGT_H__
00004 
00005 #include "Mobility.h"
00006 #include "Configuration.h"
00007 
00008 namespace PathEngine {
00009     class PathPlanner;
00010 
00016     class TGT : public Mobility{
00017     public:
00022         TGT(PathPlanner* planner) : Mobility(planner) {}
00023 
00027         Configuration interpolate(const Configuration& from, const Configuration& to, double ratio) const;
00028       
00032         double distance(const Configuration& from, const Configuration& to) const;
00033 
00037         bool isReversible() const { return false; }
00038     };
00039 };
00040 
00041 #endif // __TGT_H__


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Apr 11 2019 03:30:19