hpp-rbprm  4.11.0
Implementation of RB-PRM planner using hpp.
kinematics_constraints.hh
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1 #ifndef HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
2 #define HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
3 
6 #include <hpp/pinocchio/configuration.hh>
8 namespace hpp {
9 namespace rbprm {
10 
11 HPP_PREDEF_CLASS(RbPrmFullBody);
13 typedef std::shared_ptr<RbPrmFullBody> RbPrmFullBodyPtr_t;
14 
15 namespace reachability {
16 
23 std::pair<MatrixX3, MatrixX3> loadConstraintsFromObj(const std::string& fileName, double minDistance = 0.);
24 
25 std::pair<MatrixX3, VectorX> computeAllKinematicsConstraints(const RbPrmFullBodyPtr_t& fullBody,
26  const pinocchio::ConfigurationPtr_t& configuration);
27 
28 std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForState(const RbPrmFullBodyPtr_t& fullBody,
29  const State& state);
30 
31 std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForLimb(const RbPrmFullBodyPtr_t& fullBody,
32  const State& state, const std::string& limbName);
33 
34 std::pair<MatrixX3, VectorX> getInequalitiesAtTransform(const std::pair<MatrixX3, MatrixX3>& NV,
35  const hpp::pinocchio::Transform3f& transform);
36 
37 bool verifyKinematicConstraints(const std::pair<MatrixX3, VectorX>& Ab, const fcl::Vec3f& point);
38 
39 bool verifyKinematicConstraints(const std::pair<MatrixX3, MatrixX3>& NV, const hpp::pinocchio::Transform3f& transform,
40  const fcl::Vec3f& point);
41 
42 bool verifyKinematicConstraints(const RbPrmFullBodyPtr_t& fullbody, const State& state, fcl::Vec3f point);
43 
44 } // namespace reachability
45 } // namespace rbprm
46 } // namespace hpp
47 
48 #endif // KINEMATICS_CONSTRAINTS_HH
std::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
bool verifyKinematicConstraints(const std::pair< MatrixX3, VectorX > &Ab, const fcl::Vec3f &point)
std::pair< MatrixX3, VectorX > getInequalitiesAtTransform(const std::pair< MatrixX3, MatrixX3 > &NV, const hpp::pinocchio::Transform3f &transform)
Definition: algorithm.hh:27
fcl::Vec3f transform(const fcl::Vec3f &p, const fcl::Vec3f &tr, const fcl::Matrix3f &ro)
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForState(const RbPrmFullBodyPtr_t &fullBody, const State &state)
std::pair< MatrixX3, VectorX > computeAllKinematicsConstraints(const RbPrmFullBodyPtr_t &fullBody, const pinocchio::ConfigurationPtr_t &configuration)
std::pair< MatrixX3, MatrixX3 > loadConstraintsFromObj(const std::string &fileName, double minDistance=0.)
loadConstraintsFromObj load the obj file and compute a list of normal and vertex position from it ...
HPP_PREDEF_CLASS(RbPrmFullBody)
Definition: rbprm-fullbody.hh:50
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForLimb(const RbPrmFullBodyPtr_t &fullBody, const State &state, const std::string &limbName)
Definition: rbprm-state.hh:40