hpp::manipulation::Problem Class Reference

#include <hpp/manipulation/problem.hh>

Inheritance diagram for hpp::manipulation::Problem:

Collaboration diagram for hpp::manipulation::Problem:

Public Types
typedef core::Problem	Parent

Public Member Functions
void	constraintGraph (const graph::GraphPtr_t &graph)
	Set the graph of constraints. More...
graph::GraphPtr_t	constraintGraph () const
	Get the graph of constraints. More...
virtual void	checkProblem () const
	Check whether the problem is well formulated. More...
PathValidationPtr_t	pathValidation () const
	Expose parent method. More...
void	pathValidation (const PathValidationPtr_t &pathValidation)
SteeringMethodPtr_t	manipulationSteeringMethod () const
	Get the steering method as a SteeringMethod. More...
PathValidationPtr_t	pathValidationFactory () const
void	setPathValidationFactory (const core::PathValidationBuilder_t &factory, const value_type &tol)
Public Member Functions inherited from hpp::core::Problem
	Problem ()
virtual	~Problem ()
virtual void	checkProblem () const
const Parameter &	getParameter (const std::string &name) const
void	setParameter (const std::string &name, const Parameter &value)
const DevicePtr_t &	robot () const
const Configuration_t &	initConfig () const
void	initConfig (ConfigurationIn_t inConfig)
void	target (const ProblemTargetPtr_t &target)
const ProblemTargetPtr_t &	target () const
const Configurations_t	goalConfigs () const
void	addGoalConfig (ConfigurationIn_t config)
void	resetGoalConfigs ()
void	steeringMethod (const SteeringMethodPtr_t &sm)
SteeringMethodPtr_t	steeringMethod () const
void	distance (const DistancePtr_t &distance)
const DistancePtr_t &	distance () const
void	configValidation (const ConfigValidationsPtr_t &configValidations)
const ConfigValidationsPtr_t &	configValidations () const
void	clearConfigValidations ()
void	addConfigValidation (const ConfigValidationPtr_t &configValidation)
virtual void	pathValidation (const PathValidationPtr_t &pathValidation)
PathValidationPtr_t	pathValidation () const
void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)
ConfigurationShooterPtr_t	configurationShooter () const
void	pathProjector (const PathProjectorPtr_t &pathProjector)
PathProjectorPtr_t	pathProjector () const
void	constraints (const ConstraintSetPtr_t &constraints)
const ConstraintSetPtr_t &	constraints () const
void	addObstacle (const CollisionObjectPtr_t &object)
void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void	filterCollisionPairs ()
void	setSecurityMargins (const matrix_t &securityMatrix)
const ObjectStdVector_t &	collisionObstacles () const
void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)
const DevicePtr_t &	robot () const
const Configuration_t &	initConfig () const
void	initConfig (ConfigurationIn_t inConfig)
void	target (const ProblemTargetPtr_t &target)
const ProblemTargetPtr_t &	target () const
const Configurations_t	goalConfigs () const
void	addGoalConfig (ConfigurationIn_t config)
void	resetGoalConfigs ()
void	steeringMethod (const SteeringMethodPtr_t &sm)
SteeringMethodPtr_t	steeringMethod () const
void	distance (const DistancePtr_t &distance)
const DistancePtr_t &	distance () const
void	configValidation (const ConfigValidationsPtr_t &configValidations)
const ConfigValidationsPtr_t &	configValidations () const
void	clearConfigValidations ()
void	addConfigValidation (const ConfigValidationPtr_t &configValidation)
virtual void	pathValidation (const PathValidationPtr_t &pathValidation)
PathValidationPtr_t	pathValidation () const
void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)
ConfigurationShooterPtr_t	configurationShooter () const
void	pathProjector (const PathProjectorPtr_t &pathProjector)
PathProjectorPtr_t	pathProjector () const
void	constraints (const ConstraintSetPtr_t &constraints)
const ConstraintSetPtr_t &	constraints () const
void	addObstacle (const CollisionObjectPtr_t &object)
void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void	filterCollisionPairs ()
void	setSecurityMargins (const matrix_t &securityMatrix)
const ObjectStdVector_t &	collisionObstacles () const
void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)

Static Public Member Functions
static ProblemPtr_t	create (DevicePtr_t robot)
	Constructor. More...
Static Public Member Functions inherited from hpp::core::Problem
static ProblemPtr_t	create (DevicePtr_t robot)
static ProblemPtr_t	createCopy (const ProblemConstPtr_t &other)
static void	declareParameter (const ParameterDescription &desc)
static const Container< ParameterDescription > &	parameterDescriptions ()
static const ParameterDescription &	parameterDescription (const std::string &name)

Protected Member Functions
	Problem (DevicePtr_t robot)
	Constructor. More...
void	init (ProblemWkPtr_t wkPtr)
Protected Member Functions inherited from hpp::core::Problem
	Problem (DevicePtr_t robot)
	Problem (const Problem &other)=default
void	init (ProblemWkPtr_t wkPtr)

Additional Inherited Members
Public Attributes inherited from hpp::core::Problem
Container< Parameter >	parameters

Member Typedef Documentation

Parent

typedef core::Problem hpp::manipulation::Problem::Parent

Constructor & Destructor Documentation

Problem()

hpp::manipulation::Problem::Problem ( DevicePtr_t  robot )

protected

Constructor.

Member Function Documentation

checkProblem()

virtual void hpp::manipulation::Problem::checkProblem ( ) const

virtual

Check whether the problem is well formulated.

Reimplemented from hpp::core::Problem.

constraintGraph() [1/2]

graph::GraphPtr_t hpp::manipulation::Problem::constraintGraph ( ) const

inline

Get the graph of constraints.

constraintGraph() [2/2]

void hpp::manipulation::Problem::constraintGraph

(

const graph::GraphPtr_t &

graph

)

Set the graph of constraints.

create()

static ProblemPtr_t hpp::manipulation::Problem::create ( DevicePtr_t  robot )

static

Constructor.

init()

void hpp::manipulation::Problem::init ( ProblemWkPtr_t  wkPtr )

protected

manipulationSteeringMethod()

SteeringMethodPtr_t hpp::manipulation::Problem::manipulationSteeringMethod

(

)

const

Get the steering method as a SteeringMethod.

pathValidation() [1/2]

PathValidationPtr_t hpp::manipulation::Problem::pathValidation

(

)

const

Expose parent method.

pathValidation() [2/2]

void hpp::manipulation::Problem::pathValidation ( const PathValidationPtr_t &  pathValidation )

virtual

Parameters

pathValidation

if of type GraphPathValidation, sets its constraint graph to Problem::constraintGraph()

Reimplemented from hpp::core::Problem.

pathValidationFactory()

PathValidationPtr_t hpp::manipulation::Problem::pathValidationFactory

(

)

const

Build a new path validation

Note

Current obstacles are added to the created object.

Todo:

Keep a pointer to this value to update it when a new obstacle is added.

setPathValidationFactory()

void hpp::manipulation::Problem::setPathValidationFactory	(	const core::PathValidationBuilder_t &	factory,
		const value_type &	tol
	)

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

• include/hpp/manipulation/problem.hh