hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
hpp::tools Namespace Reference

Namespaces

 io
 Some io tools for serialization.
 

Functions

Eigen::Matrix3d GetRotationMatrix (const Eigen::Vector3d &from, const Eigen::Vector3d &to)
 Uses Rodriguez formula to find transformation between two vectors. More...
 
fcl::Matrix3f GetZRotMatrix (const core::value_type theta)
 
fcl::Matrix3f GetYRotMatrix (const core::value_type theta)
 
fcl::Matrix3f GetXRotMatrix (const core::value_type theta)
 
pinocchio::Configuration_t interpolate (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2, const pinocchio::value_type &u)
 
pinocchio::value_type distance (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2)
 
template<typename K , typename V >
void addToMap (const K &key, const V &value)
 
template<typename T >
bool insertIfNew (std::vector< T > &data, const T &value)
 
template<typename T >
void RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const core::ObjectStdVector_t &obstacles)
 
template<typename T >
void RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const pinocchio::CollisionObjectPtr_t obstacle)
 
template<typename T >
void RemoveEffectorCollisionRec (T &validation, pinocchio::JointPtr_t joint, const pinocchio::CollisionObjectPtr_t obstacle)
 
void LockJointRec (const std::string &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector)
 
void LockJointRec (const std::vector< std::string > &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector)
 
void LockJoint (const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector, const bool constant=true)
 
template<typename T >
void addLimbCollisionRec (pinocchio::JointPtr_t joint, const pinocchio::Frame &effector, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation, const bool disableEffectorCollision)
 
template<typename T >
void RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::string &limbname, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation)
 
template<typename T >
void RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::vector< std::string > &keepers, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation)
 
template<typename K , typename V >
void addToMap (std::map< K, V > &map, const K &key, const V &value)
 

Function Documentation

◆ addLimbCollisionRec()

template<typename T >
void hpp::tools::addLimbCollisionRec ( pinocchio::JointPtr_t  joint,
const pinocchio::Frame &  effector,
const core::ObjectStdVector_t &  collisionObjects,
T &  collisionValidation,
const bool  disableEffectorCollision 
)

◆ addToMap() [1/2]

template<typename K , typename V >
void hpp::tools::addToMap ( const K &  key,
const V &  value 
)

◆ addToMap() [2/2]

template<typename K , typename V >
void hpp::tools::addToMap ( std::map< K, V > &  map,
const K &  key,
const V &  value 
)

◆ distance()

pinocchio::value_type hpp::tools::distance ( pinocchio::ConfigurationIn_t  q1,
pinocchio::ConfigurationIn_t  q2 
)

◆ GetRotationMatrix()

Eigen::Matrix3d hpp::tools::GetRotationMatrix ( const Eigen::Vector3d &  from,
const Eigen::Vector3d &  to 
)

Uses Rodriguez formula to find transformation between two vectors.

◆ GetXRotMatrix()

fcl::Matrix3f hpp::tools::GetXRotMatrix ( const core::value_type  theta)

◆ GetYRotMatrix()

fcl::Matrix3f hpp::tools::GetYRotMatrix ( const core::value_type  theta)

◆ GetZRotMatrix()

fcl::Matrix3f hpp::tools::GetZRotMatrix ( const core::value_type  theta)

◆ insertIfNew()

template<typename T >
bool hpp::tools::insertIfNew ( std::vector< T > &  data,
const T &  value 
)

◆ interpolate()

pinocchio::Configuration_t hpp::tools::interpolate ( pinocchio::ConfigurationIn_t  q1,
pinocchio::ConfigurationIn_t  q2,
const pinocchio::value_type &  u 
)

◆ LockJoint()

void hpp::tools::LockJoint ( const pinocchio::JointPtr_t  joint,
core::ConfigProjectorPtr_t  projector,
const bool  constant = true 
)

Lock a single joint

Parameters
jointof the considered kinematic chain to block
projectorProjector on which to block the joints
constantif false, joint lock constraint can be updated with rightHandSide method

◆ LockJointRec() [1/2]

void hpp::tools::LockJointRec ( const std::string &  spared,
const pinocchio::JointPtr_t  joint,
core::ConfigProjectorPtr_t  projector 
)

Lock all joints in a kinematic chain, except for one joint and its subchain

Parameters
sparedName of the root of the unlocked kinematic chain
jointRoot of the considered kinematic chain to block
projectorProjector on which to block the joints

◆ LockJointRec() [2/2]

void hpp::tools::LockJointRec ( const std::vector< std::string > &  spared,
const pinocchio::JointPtr_t  joint,
core::ConfigProjectorPtr_t  projector 
)

Lock all joints in a kinematic chain, except for a list of subchains

Parameters
sparednames of the root of the unlocked kinematic chains
jointRoot of the considered kinematic chain to block
projectorProjector on which to block the joints

◆ RemoveEffectorCollision() [1/2]

template<typename T >
void hpp::tools::RemoveEffectorCollision ( T &  validation,
pinocchio::JointPtr_t  effectorJoint,
const core::ObjectStdVector_t &  obstacles 
)

◆ RemoveEffectorCollision() [2/2]

template<typename T >
void hpp::tools::RemoveEffectorCollision ( T &  validation,
pinocchio::JointPtr_t  effectorJoint,
const pinocchio::CollisionObjectPtr_t  obstacle 
)

◆ RemoveEffectorCollisionRec()

template<typename T >
void hpp::tools::RemoveEffectorCollisionRec ( T &  validation,
pinocchio::JointPtr_t  joint,
const pinocchio::CollisionObjectPtr_t  obstacle 
)

◆ RemoveNonLimbCollisionRec() [1/2]

template<typename T >
void hpp::tools::RemoveNonLimbCollisionRec ( const pinocchio::JointPtr_t  joint,
const std::string &  limbname,
const core::ObjectStdVector_t &  collisionObjects,
T &  collisionValidation 
)

◆ RemoveNonLimbCollisionRec() [2/2]

template<typename T >
void hpp::tools::RemoveNonLimbCollisionRec ( const pinocchio::JointPtr_t  joint,
const std::vector< std::string > &  keepers,
const core::ObjectStdVector_t &  collisionObjects,
T &  collisionValidation 
)