This class is a container for a sequence of viapoint states for all end-effectors. More...

Public Member Functions
const int &	numOptimizationViapoints () const

const int	numEndeffectorViapoints (int eff_id) const

void	loadFromFile (const std::string cfg_file, const std::string contact_plan_name="contact_plan")

std::vector< ViapointState > &	endeffectorViapoints (int eff_id)

const std::vector< ViapointState > &	endeffectorViapoints (int eff_id) const

std::string	toString () const

Private Attributes
int	num_optimization_viapoints_

std::array< std::vector< ViapointState >, Problem::n_endeffs_ >	endeffector_viapoints_

Friends
std::ostream &	operator<< (std::ostream &os, const ViapointSequence &obj)

Detailed Description

This class is a container for a sequence of viapoint states for all end-effectors.

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

Public Member Functions