pyhpp::core::Problem Struct Reference

#include <pyhpp/core/problem.hh>

Public Member Functions
	Problem (const DevicePtr_t &robot)
	Problem (hpp::core::ProblemPtr_t problemPtr)
const DevicePtr_t &	robot () const
void	setParameter (const std::string &name, const Parameter &value)
void	setParameterFloat (const std::string &name, value_type value)
void	setParameterInt (const std::string &name, size_type value)
const Parameter &	getParameter (const std::string &name) const
PyWSteeringMethodPtr_t	steeringMethod () const
const ConfigValidationsPtr_t &	configValidation () const
PathValidationPtr_t	pathValidation () const
PathProjectorPtr_t	pathProjector () const
DistancePtr_t	distance () const
const ProblemTargetPtr_t &	target () const
ConfigurationShooterPtr_t	configurationShooter () const
void	steeringMethod (const PyWSteeringMethodPtr_t &steeringMethod)
void	configValidation (const ConfigValidationsPtr_t &cv)
void	clearConfigValidations ()
void	pathValidation (const PathValidationPtr_t &pv)
void	pathProjector (const PathProjectorPtr_t &pp)
void	distance (const DistancePtr_t &d)
void	target (const ProblemTargetPtr_t &t)
void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)
void	initConfig (ConfigurationIn_t inConfig)
void	addGoalConfig (ConfigurationIn_t config)
void	addConfigValidation (const std::string &type)
void	resetGoalConfigs ()
hpp::manipulation::ProblemPtr_t	asManipulationProblem () const
bool	isManipulationProblem () const
void	addPartialCom (const std::string &name, boost::python::list pyjointNames)
hpp::pinocchio::vector3_t	getPartialCom (const std::string &name)
hpp::constraints::ImplicitPtr_t	createRelativeComConstraint (const char *constraintName, const char *comName, const char *jointName, hpp::pinocchio::vector3_t point, boost::python::list mask)
hpp::constraints::ImplicitPtr_t	createTransformationConstraint (const char *constraintName, const char *joint1Name, const char *joint2Name, const hpp::pinocchio::Transform3s &M, boost::python::list mask)
hpp::constraints::ImplicitPtr_t	createTransformationConstraint2 (const char *constraintName, const char *joint1Name, const char *joint2Name, const hpp::pinocchio::Transform3s &M1, const hpp::pinocchio::Transform3s &M2, const boost::python::list mask)
void	setConstantRightHandSide (hpp::constraints::ImplicitPtr_t constraint, bool constant)
boost::python::tuple	applyConstraints (ConfigurationIn_t config)
boost::python::tuple	isConfigValid (ConfigurationIn_t dofArray)
void	setConstraints (hpp::core::ConstraintSetPtr_t constraints)
hpp::core::ConstraintSetPtr_t	getConstraints ()
void	setRightHandSideFromConfig (ConfigurationIn_t configIn)
void	addNumericalConstraintsToConfigProjector1 (const char *configProjName, boost::python::list constraints, boost::python::list priorities)
void	addNumericalConstraintsToConfigProjector2 (const char *configProjName, boost::python::list constraints)
hpp::constraints::ImplicitPtr_t	createComBetweenFeet (const char *constraintName, const char *comName, const char *jointLName, const char *jointRName, const hpp::pinocchio::vector3_t &pointL, const hpp::pinocchio::vector3_t &pointR, const char *jointRefName, const hpp::pinocchio::vector3_t &pointRef, boost::python::list mask)
boost::python::tuple	directPath (ConfigurationIn_t start, ConfigurationIn_t end, bool validate)

Public Attributes
hpp::core::ProblemPtr_t	obj
std::map< std::string, hpp::pinocchio::CenterOfMassComputationPtr_t >	centerOfMassComputations
hpp::core::ConstraintSetPtr_t	constraints_
value_type	errorThreshold_
size_type	maxIterProjection_

Constructor & Destructor Documentation

Problem() [1/2]

pyhpp::core::Problem::Problem

(

const DevicePtr_t &

robot

)

Problem() [2/2]

pyhpp::core::Problem::Problem ( hpp::core::ProblemPtr_t  problemPtr )

inline

Member Function Documentation

addConfigValidation()

void pyhpp::core::Problem::addConfigValidation

(

const std::string &

type

)

addGoalConfig()

void pyhpp::core::Problem::addGoalConfig

(

ConfigurationIn_t

config

)

addNumericalConstraintsToConfigProjector1()

void pyhpp::core::Problem::addNumericalConstraintsToConfigProjector1	(	const char *	configProjName,
		boost::python::list	constraints,
		boost::python::list	priorities
	)

addNumericalConstraintsToConfigProjector2()

void pyhpp::core::Problem::addNumericalConstraintsToConfigProjector2	(	const char *	configProjName,
		boost::python::list	constraints
	)

addPartialCom()

void pyhpp::core::Problem::addPartialCom	(	const std::string &	name,
		boost::python::list	pyjointNames
	)

applyConstraints()

boost::python::tuple pyhpp::core::Problem::applyConstraints

(

ConfigurationIn_t

config

)

asManipulationProblem()

hpp::manipulation::ProblemPtr_t pyhpp::core::Problem::asManipulationProblem ( ) const

inline

clearConfigValidations()

void pyhpp::core::Problem::clearConfigValidations

(

)

configurationShooter() [1/2]

ConfigurationShooterPtr_t pyhpp::core::Problem::configurationShooter

(

)

const

configurationShooter() [2/2]

void pyhpp::core::Problem::configurationShooter

(

const ConfigurationShooterPtr_t &

configurationShooter

)

configValidation() [1/2]

const ConfigValidationsPtr_t & pyhpp::core::Problem::configValidation

(

)

const

configValidation() [2/2]

void pyhpp::core::Problem::configValidation

(

const ConfigValidationsPtr_t &

cv

)

createComBetweenFeet()

hpp::constraints::ImplicitPtr_t pyhpp::core::Problem::createComBetweenFeet	(	const char *	constraintName,
		const char *	comName,
		const char *	jointLName,
		const char *	jointRName,
		const hpp::pinocchio::vector3_t &	pointL,
		const hpp::pinocchio::vector3_t &	pointR,
		const char *	jointRefName,
		const hpp::pinocchio::vector3_t &	pointRef,
		boost::python::list	mask
	)

createRelativeComConstraint()

hpp::constraints::ImplicitPtr_t pyhpp::core::Problem::createRelativeComConstraint	(	const char *	constraintName,
		const char *	comName,
		const char *	jointName,
		hpp::pinocchio::vector3_t	point,
		boost::python::list	mask
	)

createTransformationConstraint()

hpp::constraints::ImplicitPtr_t pyhpp::core::Problem::createTransformationConstraint	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const hpp::pinocchio::Transform3s &	M,
		boost::python::list	mask
	)

createTransformationConstraint2()

hpp::constraints::ImplicitPtr_t pyhpp::core::Problem::createTransformationConstraint2	(	const char *	constraintName,
		const char *	joint1Name,
		const char *	joint2Name,
		const hpp::pinocchio::Transform3s &	M1,
		const hpp::pinocchio::Transform3s &	M2,
		const boost::python::list	mask
	)

directPath()

boost::python::tuple pyhpp::core::Problem::directPath	(	ConfigurationIn_t	start,
		ConfigurationIn_t	end,
		bool	validate
	)

distance() [1/2]

DistancePtr_t pyhpp::core::Problem::distance

(

)

const

distance() [2/2]

void pyhpp::core::Problem::distance

(

const DistancePtr_t &

d

)

getConstraints()

hpp::core::ConstraintSetPtr_t pyhpp::core::Problem::getConstraints

(

)

getParameter()

const Parameter & pyhpp::core::Problem::getParameter

(

const std::string &

name

)

const

getPartialCom()

hpp::pinocchio::vector3_t pyhpp::core::Problem::getPartialCom

(

const std::string &

name

)

initConfig()

void pyhpp::core::Problem::initConfig

(

ConfigurationIn_t

inConfig

)

isConfigValid()

boost::python::tuple pyhpp::core::Problem::isConfigValid

(

ConfigurationIn_t

dofArray

)

isManipulationProblem()

bool pyhpp::core::Problem::isManipulationProblem ( ) const

inline

pathProjector() [1/2]

PathProjectorPtr_t pyhpp::core::Problem::pathProjector

(

)

const

pathProjector() [2/2]

void pyhpp::core::Problem::pathProjector

(

const PathProjectorPtr_t &

pp

)

pathValidation() [1/2]

PathValidationPtr_t pyhpp::core::Problem::pathValidation

(

)

const

pathValidation() [2/2]

void pyhpp::core::Problem::pathValidation

(

const PathValidationPtr_t &

pv

)

resetGoalConfigs()

void pyhpp::core::Problem::resetGoalConfigs

(

)

robot()

const DevicePtr_t & pyhpp::core::Problem::robot

(

)

const

setConstantRightHandSide()

void pyhpp::core::Problem::setConstantRightHandSide	(	hpp::constraints::ImplicitPtr_t	constraint,
		bool	constant
	)

setConstraints()

void pyhpp::core::Problem::setConstraints

(

hpp::core::ConstraintSetPtr_t

constraints

)

setParameter()

void pyhpp::core::Problem::setParameter	(	const std::string &	name,
		const Parameter &	value
	)

setParameterFloat()

void pyhpp::core::Problem::setParameterFloat	(	const std::string &	name,
		value_type	value
	)

setParameterInt()

void pyhpp::core::Problem::setParameterInt	(	const std::string &	name,
		size_type	value
	)

setRightHandSideFromConfig()

void pyhpp::core::Problem::setRightHandSideFromConfig

(

ConfigurationIn_t

configIn

)

steeringMethod() [1/2]

PyWSteeringMethodPtr_t pyhpp::core::Problem::steeringMethod

(

)

const

steeringMethod() [2/2]

void pyhpp::core::Problem::steeringMethod

(

const PyWSteeringMethodPtr_t &

steeringMethod

)

target() [1/2]

const ProblemTargetPtr_t & pyhpp::core::Problem::target

(

)

const

target() [2/2]

void pyhpp::core::Problem::target

(

const ProblemTargetPtr_t &

t

)

Member Data Documentation

centerOfMassComputations

std::map<std::string, hpp::pinocchio::CenterOfMassComputationPtr_t> pyhpp::core::Problem::centerOfMassComputations

constraints_

hpp::core::ConstraintSetPtr_t pyhpp::core::Problem::constraints_

errorThreshold_

value_type pyhpp::core::Problem::errorThreshold_

maxIterProjection_

size_type pyhpp::core::Problem::maxIterProjection_

obj

hpp::core::ProblemPtr_t pyhpp::core::Problem::obj

---

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

• include/pyhpp/core/problem.hh
• src/pyhpp/core/problem.cc