hpp-manipulation 4.15.1
Classes for manipulation planning.
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end-effector-trajectory.hh
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1// Copyright (c) 2019 CNRS
2// Authors: Joseph Mirabel
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
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12// 2. Redistributions in binary form must reproduce the above copyright
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15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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28
29#ifndef HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
30#define HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
31
32#include <hpp/core/path-planner.hh>
35#include <hpp/pinocchio/frame.hh>
36#include <pinocchio/spatial/se3.hpp>
37
38namespace hpp {
39namespace manipulation {
40namespace pathPlanner {
42 public:
43 typedef std::vector<Configuration_t> Configurations_t;
44
45 Configurations_t solve(vectorIn_t target) { return impl_solve(target); }
46
47 protected:
49};
50typedef shared_ptr<IkSolverInitialization> IkSolverInitializationPtr_t;
51
53typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
54
55class HPP_MANIPULATION_DLLAPI EndEffectorTrajectory : public core::PathPlanner {
56 public:
60 const core::ProblemConstPtr_t& problem);
65 const core::ProblemConstPtr_t& problem,
66 const core::RoadmapPtr_t& roadmap);
67
71 virtual void startSolve();
72
74 virtual void oneStep();
75
78 int nRandomConfig() const { return nRandomConfig_; }
79
80 void nRandomConfig(int n) {
81 assert(n >= 0);
82 nRandomConfig_ = n;
83 }
84
86 int nDiscreteSteps() const { return nDiscreteSteps_; }
87
88 void nDiscreteSteps(int n) {
89 assert(n > 0);
90 nDiscreteSteps_ = n;
91 }
92
95 void checkFeasibilityOnly(bool enable);
96
97 bool checkFeasibilityOnly() const { return feasibilityOnly_; }
98
100 ikSolverInit_ = solver;
101 }
102
104
105 protected:
108 EndEffectorTrajectory(const core::ProblemConstPtr_t& problem);
112 EndEffectorTrajectory(const core::ProblemConstPtr_t& problem,
113 const core::RoadmapPtr_t& roadmap);
115 void init(const EndEffectorTrajectoryWkPtr_t& weak);
116
117 private:
118 std::vector<core::Configuration_t> configurations(
119 const core::Configuration_t& q_init);
120
122 EndEffectorTrajectoryWkPtr_t weak_;
124 int nRandomConfig_;
126 int nDiscreteSteps_;
128 IkSolverInitializationPtr_t ikSolverInit_;
130 bool feasibilityOnly_;
131}; // class EndEffectorTrajectory
132} // namespace pathPlanner
133} // namespace manipulation
134} // namespace hpp
135
136#endif // HPP_MANIPULATION_PATH_PLANNER_END_EFFECTOR_TRAJECTORY_HH
Definition: end-effector-trajectory.hh:55
void nDiscreteSteps(int n)
Definition: end-effector-trajectory.hh:88
void ikSolverInitialization(IkSolverInitializationPtr_t solver)
Definition: end-effector-trajectory.hh:99
void init(const EndEffectorTrajectoryWkPtr_t &weak)
Store weak pointer to itself.
static EndEffectorTrajectoryPtr_t createWithRoadmap(const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
bool checkFeasibilityOnly() const
Definition: end-effector-trajectory.hh:97
int nRandomConfig() const
Definition: end-effector-trajectory.hh:78
int nDiscreteSteps() const
Number of steps to generate goal config (successive projections).
Definition: end-effector-trajectory.hh:86
EndEffectorTrajectory(const core::ProblemConstPtr_t &problem)
static EndEffectorTrajectoryPtr_t create(const core::ProblemConstPtr_t &problem)
virtual void oneStep()
One step of the algorithm.
void nRandomConfig(int n)
Definition: end-effector-trajectory.hh:80
Definition: end-effector-trajectory.hh:41
virtual Configurations_t impl_solve(vectorIn_t target)=0
Configurations_t solve(vectorIn_t target)
Definition: end-effector-trajectory.hh:45
std::vector< Configuration_t > Configurations_t
Definition: end-effector-trajectory.hh:43
#define HPP_MANIPULATION_DLLAPI
Definition: config.hh:64
HPP_PREDEF_CLASS(EndEffectorTrajectory)
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: end-effector-trajectory.hh:53
shared_ptr< IkSolverInitialization > IkSolverInitializationPtr_t
Definition: end-effector-trajectory.hh:50
core::vectorIn_t vectorIn_t
Definition: fwd.hh:94
Definition: main.hh:1