hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
hpp::rbprm::contact::ContactGenHelper Struct Reference

#include <hpp/rbprm/contact_generation/contact_generation.hh>

Collaboration diagram for hpp::rbprm::contact::ContactGenHelper:

Public Member Functions

 ContactGenHelper (RbPrmFullBodyPtr_t fb, const State &ps, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const double robustnessTreshold=0, const std::size_t maxContactBreaks=1, const std::size_t maxContactCreations=1, const bool checkStabilityMaintain=false, const bool checkStabilityGenerate=true, const fcl::Vec3f &direction=fcl::Vec3f(0, 0, 1), const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0), const bool contactIfFails=false, const bool stableForOneContact=false, const core::PathConstPtr_t &comPath=core::PathConstPtr_t(), const double currentPathId=0)
 
 ~ContactGenHelper ()
 

Public Attributes

hpp::rbprm::RbPrmFullBodyPtr_t fullBody_
 
const hpp::rbprm::State previousState_
 
const bool checkStabilityMaintain_
 
bool contactIfFails_
 
const bool stableForOneContact_
 
const fcl::Vec3f acceleration_
 
const fcl::Vec3f direction_
 
const double robustnessTreshold_
 
const std::size_t maxContactBreaks_
 
const std::size_t maxContactCreations_
 
const affMap_taffordances_
 
const std::map< std::string, std::vector< std::string > > & affFilters_
 
hpp::rbprm::State workingState_
 
bool checkStabilityGenerate_
 
Q_State candidates_
 
const core::PathConstPtr_t comPath_
 
const double currentPathId_
 
bool quasiStatic_
 
bool testReachability_
 
const bool maximiseContacts_
 
const bool accept_unreachable_
 
const bool tryQuasiStatic_
 
const int reachabilityPointPerPhases_
 

Constructor & Destructor Documentation

◆ ContactGenHelper()

hpp::rbprm::contact::ContactGenHelper::ContactGenHelper ( RbPrmFullBodyPtr_t  fb,
const State ps,
pinocchio::ConfigurationIn_t  configuration,
const affMap_t affordances,
const std::map< std::string, std::vector< std::string > > &  affFilters,
const double  robustnessTreshold = 0,
const std::size_t  maxContactBreaks = 1,
const std::size_t  maxContactCreations = 1,
const bool  checkStabilityMaintain = false,
const bool  checkStabilityGenerate = true,
const fcl::Vec3f &  direction = fcl::Vec3f(0, 0, 1),
const fcl::Vec3f &  acceleration = fcl::Vec3f(0, 0, 0),
const bool  contactIfFails = false,
const bool  stableForOneContact = false,
const core::PathConstPtr_t &  comPath = core::PathConstPtr_t(),
const double  currentPathId = 0 
)

◆ ~ContactGenHelper()

hpp::rbprm::contact::ContactGenHelper::~ContactGenHelper ( )
inline

Member Data Documentation

◆ acceleration_

const fcl::Vec3f hpp::rbprm::contact::ContactGenHelper::acceleration_

◆ accept_unreachable_

const bool hpp::rbprm::contact::ContactGenHelper::accept_unreachable_

◆ affFilters_

const std::map<std::string, std::vector<std::string> >& hpp::rbprm::contact::ContactGenHelper::affFilters_

◆ affordances_

const affMap_t& hpp::rbprm::contact::ContactGenHelper::affordances_

◆ candidates_

Q_State hpp::rbprm::contact::ContactGenHelper::candidates_

◆ checkStabilityGenerate_

bool hpp::rbprm::contact::ContactGenHelper::checkStabilityGenerate_

◆ checkStabilityMaintain_

const bool hpp::rbprm::contact::ContactGenHelper::checkStabilityMaintain_

◆ comPath_

const core::PathConstPtr_t hpp::rbprm::contact::ContactGenHelper::comPath_

◆ contactIfFails_

bool hpp::rbprm::contact::ContactGenHelper::contactIfFails_

◆ currentPathId_

const double hpp::rbprm::contact::ContactGenHelper::currentPathId_

◆ direction_

const fcl::Vec3f hpp::rbprm::contact::ContactGenHelper::direction_

◆ fullBody_

hpp::rbprm::RbPrmFullBodyPtr_t hpp::rbprm::contact::ContactGenHelper::fullBody_

◆ maxContactBreaks_

const std::size_t hpp::rbprm::contact::ContactGenHelper::maxContactBreaks_

◆ maxContactCreations_

const std::size_t hpp::rbprm::contact::ContactGenHelper::maxContactCreations_

◆ maximiseContacts_

const bool hpp::rbprm::contact::ContactGenHelper::maximiseContacts_

◆ previousState_

const hpp::rbprm::State hpp::rbprm::contact::ContactGenHelper::previousState_

◆ quasiStatic_

bool hpp::rbprm::contact::ContactGenHelper::quasiStatic_

◆ reachabilityPointPerPhases_

const int hpp::rbprm::contact::ContactGenHelper::reachabilityPointPerPhases_

◆ robustnessTreshold_

const double hpp::rbprm::contact::ContactGenHelper::robustnessTreshold_

◆ stableForOneContact_

const bool hpp::rbprm::contact::ContactGenHelper::stableForOneContact_

◆ testReachability_

bool hpp::rbprm::contact::ContactGenHelper::testReachability_

◆ tryQuasiStatic_

const bool hpp::rbprm::contact::ContactGenHelper::tryQuasiStatic_

◆ workingState_

hpp::rbprm::State hpp::rbprm::contact::ContactGenHelper::workingState_

The documentation for this struct was generated from the following file: