hpp-rbprm
4.15.1
Implementation of RB-PRM planner using hpp.
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Classes | |
struct | ProjectionReport |
Functions | |
ProjectionReport HPP_RBPRM_DLLAPI | projectToRootPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | projectToComPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | projectToColFreeComPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | projectToRootConfiguration (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State ¤tState, const Vector3 offset=Vector3::Zero()) |
ProjectionReport HPP_RBPRM_DLLAPI | setCollisionFree (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | projectStateToObstacle (const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State ¤t, const fcl::Vec3f &normal, const fcl::Vec3f &position, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero()) |
ProjectionReport HPP_RBPRM_DLLAPI | projectStateToObstacle (const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State ¤t, const fcl::Vec3f &normal, const fcl::Vec3f &position, core::CollisionValidationPtr_t validation, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero()) |
ProjectionReport HPP_RBPRM_DLLAPI | projectSampleToObstacle (const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const sampling::OctreeReport &report, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const hpp::rbprm::State ¤t) |
ProjectionReport HPP_RBPRM_DLLAPI | projectEffector (core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const fcl::Matrix3f &rotationTarget, std::vector< bool > rotationFilter, const fcl::Vec3f &positionTarget, const fcl::Vec3f &normal, const hpp::rbprm::State ¤t) |
fcl::Transform3f HPP_RBPRM_DLLAPI | computeProjectionMatrix (const hpp::rbprm::RbPrmFullBodyPtr_t &body, const hpp::rbprm::RbPrmLimbPtr_t &limb, const pinocchio::ConfigurationIn_t configuration, const fcl::Vec3f &normal, const fcl::Vec3f &position, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero()) |
fcl::Transform3f HPP_RBPRM_DLLAPI hpp::rbprm::projection::computeProjectionMatrix | ( | const hpp::rbprm::RbPrmFullBodyPtr_t & | body, |
const hpp::rbprm::RbPrmLimbPtr_t & | limb, | ||
const pinocchio::ConfigurationIn_t | configuration, | ||
const fcl::Vec3f & | normal, | ||
const fcl::Vec3f & | position, | ||
const fcl::Matrix3f & | rotation = fcl::Matrix3f::Zero() |
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ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectEffector | ( | core::ConfigProjectorPtr_t | proj, |
const hpp::rbprm::RbPrmFullBodyPtr_t & | body, | ||
const std::string & | limbId, | ||
const hpp::rbprm::RbPrmLimbPtr_t & | limb, | ||
core::CollisionValidationPtr_t | validation, | ||
pinocchio::ConfigurationOut_t | configuration, | ||
const fcl::Matrix3f & | rotationTarget, | ||
std::vector< bool > | rotationFilter, | ||
const fcl::Vec3f & | positionTarget, | ||
const fcl::Vec3f & | normal, | ||
const hpp::rbprm::State & | current | ||
) |
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectSampleToObstacle | ( | const hpp::rbprm::RbPrmFullBodyPtr_t & | body, |
const std::string & | limbId, | ||
const hpp::rbprm::RbPrmLimbPtr_t & | limb, | ||
const sampling::OctreeReport & | report, | ||
core::CollisionValidationPtr_t | validation, | ||
pinocchio::ConfigurationOut_t | configuration, | ||
const hpp::rbprm::State & | current | ||
) |
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectStateToObstacle | ( | const hpp::rbprm::RbPrmFullBodyPtr_t & | body, |
const std::string & | limbId, | ||
const hpp::rbprm::RbPrmLimbPtr_t & | limb, | ||
const hpp::rbprm::State & | current, | ||
const fcl::Vec3f & | normal, | ||
const fcl::Vec3f & | position, | ||
bool | lockOtherJoints = false , |
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const fcl::Matrix3f & | rotation = fcl::Matrix3f::Zero() |
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ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectStateToObstacle | ( | const hpp::rbprm::RbPrmFullBodyPtr_t & | body, |
const std::string & | limbId, | ||
const hpp::rbprm::RbPrmLimbPtr_t & | limb, | ||
const hpp::rbprm::State & | current, | ||
const fcl::Vec3f & | normal, | ||
const fcl::Vec3f & | position, | ||
core::CollisionValidationPtr_t | validation, | ||
bool | lockOtherJoints = false , |
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const fcl::Matrix3f & | rotation = fcl::Matrix3f::Zero() |
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ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToColFreeComPosition | ( | hpp::rbprm::RbPrmFullBodyPtr_t | fullBody, |
const fcl::Vec3f & | target, | ||
const hpp::rbprm::State & | currentState | ||
) |
Project a configuration to a target COM position, while maintaining contact constraints.
fullBody | target Robot |
target,desired | COM position |
currentState | current state of the robot (configuration and contacts) |
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToComPosition | ( | hpp::rbprm::RbPrmFullBodyPtr_t | fullBody, |
const fcl::Vec3f & | target, | ||
const hpp::rbprm::State & | currentState | ||
) |
Project a configuration to a target COM position, while maintaining contact constraints.
fullBody | target Robot |
target,desired | COM position |
currentState | current state of the robot (configuration and contacts) |
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToRootConfiguration | ( | hpp::rbprm::RbPrmFullBodyPtr_t | fullBody, |
const pinocchio::ConfigurationIn_t | conf, | ||
const hpp::rbprm::State & | currentState, | ||
const Vector3 | offset = Vector3::Zero() |
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Project a configuration to a target root configuration, while maintaining contact constraints. If required, up to maxBrokenContacts can be broken in the process. root position is assumed to be at the 3 first dof.
fullBody | target Robot |
target,desired | root position |
currentState | current state of the robot (configuration and contacts) |
offset | location in root frame. If different than zero orientation of root is ignored |
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToRootPosition | ( | hpp::rbprm::RbPrmFullBodyPtr_t | fullBody, |
const fcl::Vec3f & | target, | ||
const hpp::rbprm::State & | currentState | ||
) |
Project a configuration to a target position, while maintaining contact constraints. If required, up to maxBrokenContacts can be broken in the process. root position is assumed to be at the 3 first dof.
fullBody | target Robot |
target,desired | root position |
currentState | current state of the robot (configuration and contacts) |
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::setCollisionFree | ( | hpp::rbprm::RbPrmFullBodyPtr_t | fullBody, |
const core::CollisionValidationPtr_t & | validation, | ||
const std::string & | limb, | ||
const hpp::rbprm::State & | currentState | ||
) |
Project a configuration such that a given limb configuration is collision free
fullBody | target Robot |
limb | considered limb |