hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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rbprm-limb.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Steve Tonneau (steve.tonneau@laas.fr)
4//
5// This file is part of hpp-rbprm.
6// hpp-rbprm is free software: you can redistribute it
7// and/or modify it under the terms of the GNU Lesser General Public
8// License as published by the Free Software Foundation, either version
9// 3 of the License, or (at your option) any later version.
10//
11// hpp-rbprm is distributed in the hope that it will be
12// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14// General Lesser Public License for more details. You should have
15// received a copy of the GNU Lesser General Public License along with
16// hpp-core If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_RBPRM_LIMB_HH
20#define HPP_RBPRM_LIMB_HH
21
22#include <hpp/pinocchio/device.hh>
23#include <hpp/rbprm/config.hh>
26
27namespace hpp {
28namespace rbprm {
29
31 _6_DOF = 0, // Position and orientation are considered (surface contact)
32 _3_DOF = 1, // Only 3D position is considered (punctual contact)
34};
35
37
41class RbPrmLimb;
42typedef shared_ptr<RbPrmLimb> RbPrmLimbPtr_t;
43typedef std::map<std::string, const rbprm::RbPrmLimbPtr_t> T_Limb;
44typedef T_Limb::const_iterator CIT_Limb;
45typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic>
47typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 3> MatrixX3;
48typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 1> VectorX;
49typedef Eigen::Matrix<pinocchio::value_type, 3, 1> Vector3;
50
52 public:
73 /*static RbPrmLimbPtr_t create (const pinocchio::JointPtr_t limb, const
74 fcl::Vec3f &offset, const fcl::Vec3f &normal,const double x, const double
75 y, const std::size_t nbSamples, const sampling::heuristic evaluate = 0,
76 const double resolution = 0.1, ContactType
77 contactType = _6_DOF);*/
78
100 const pinocchio::JointPtr_t limb, const std::string& effectorName,
101 const fcl::Vec3f& offset, const fcl::Vec3f& limbOffset,
102 const fcl::Vec3f& normal, const double x, const double y,
103 const std::size_t nbSamples, const sampling::heuristic evaluate = 0,
104 const double resolution = 0.1, ContactType contactType = _6_DOF,
105 bool disableEndEffectorCollision = false, bool grasps = false,
106 const std::string& kinematicsConstraintsPath = std::string(),
107 const double kinematicConstraintsMinDistance = 0.);
108
110 const pinocchio::DevicePtr_t device, std::ifstream& fileStream,
111 const bool loadValues = true,
112 const hpp::rbprm::sampling::heuristic evaluate = 0,
113 bool disableEndEffectorCollision = false, bool grasps = false);
114
115 public:
117
118 public:
119 pinocchio::Transform3f octreeRoot() const;
120
121 public:
122 const pinocchio::JointPtr_t limb_;
123 const pinocchio::Frame effector_;
124 const fcl::Matrix3f
125 effectorDefaultRotation_; // effector transform in rest pose
126 const fcl::Vec3f offset_; // effector location
127 const fcl::Vec3f
128 limbOffset_; // offset of between the limb_ joint position and it's link
129 const fcl::Vec3f normal_; // effector normal for surface
130 const double x_; // half width
131 const double y_; // half length of contact surface
133 sampling::heuristic evaluate_;
136 const bool grasps_;
138 std::pair<MatrixXX, MatrixXX> kinematicConstraints_;
139
140 protected:
141 RbPrmLimb(const pinocchio::JointPtr_t& limb, const std::string& effectorName,
142 const fcl::Vec3f& offset, const fcl::Vec3f& limbOffset,
143 const fcl::Vec3f& normal, const double x, const double y,
144 const std::size_t nbSamples, const sampling::heuristic evaluate,
145 const double resolution, ContactType contactType,
146 bool disableEndEffectorCollision = false, bool grasps = false,
147 const std::string& kinematicsConstraintsPath = std::string(),
148 const double kinematicConstraintsMinDistance = 0.);
149
150 RbPrmLimb(const pinocchio::DevicePtr_t device, std::ifstream& fileStream,
151 const bool loadValues,
152 const hpp::rbprm::sampling::heuristic evaluate,
153 bool disableEndEffectorCollision = false, bool grasps = false);
157 void init(const RbPrmLimbWkPtr_t& weakPtr);
158
159 private:
160 RbPrmLimbWkPtr_t weakPtr_;
161}; // class RbPrmLimb
162
164 std::ofstream& dbFile);
165
166} // namespace rbprm
167} // namespace hpp
168
169#endif // HPP_RBPRM_LIMB_HH
Definition: rbprm-limb.hh:51
const bool disableEndEffectorCollision_
Definition: rbprm-limb.hh:135
const bool grasps_
Definition: rbprm-limb.hh:136
std::pair< MatrixXX, MatrixXX > kinematicConstraints_
Definition: rbprm-limb.hh:138
const fcl::Vec3f offset_
Definition: rbprm-limb.hh:126
const fcl::Vec3f normal_
Definition: rbprm-limb.hh:129
const pinocchio::Frame effector_
Definition: rbprm-limb.hh:123
pinocchio::Transform3f octreeRoot() const
static RbPrmLimbPtr_t create(const pinocchio::DevicePtr_t device, std::ifstream &fileStream, const bool loadValues=true, const hpp::rbprm::sampling::heuristic evaluate=0, bool disableEndEffectorCollision=false, bool grasps=false)
static RbPrmLimbPtr_t create(const pinocchio::JointPtr_t limb, const std::string &effectorName, const fcl::Vec3f &offset, const fcl::Vec3f &limbOffset, const fcl::Vec3f &normal, const double x, const double y, const std::size_t nbSamples, const sampling::heuristic evaluate=0, const double resolution=0.1, ContactType contactType=_6_DOF, bool disableEndEffectorCollision=false, bool grasps=false, const std::string &kinematicsConstraintsPath=std::string(), const double kinematicConstraintsMinDistance=0.)
RbPrmLimb(const pinocchio::JointPtr_t &limb, const std::string &effectorName, const fcl::Vec3f &offset, const fcl::Vec3f &limbOffset, const fcl::Vec3f &normal, const double x, const double y, const std::size_t nbSamples, const sampling::heuristic evaluate, const double resolution, ContactType contactType, bool disableEndEffectorCollision=false, bool grasps=false, const std::string &kinematicsConstraintsPath=std::string(), const double kinematicConstraintsMinDistance=0.)
RbPrmLimb(const pinocchio::DevicePtr_t device, std::ifstream &fileStream, const bool loadValues, const hpp::rbprm::sampling::heuristic evaluate, bool disableEndEffectorCollision=false, bool grasps=false)
const pinocchio::JointPtr_t limb_
Definition: rbprm-limb.hh:122
const fcl::Matrix3f effectorDefaultRotation_
Definition: rbprm-limb.hh:125
fcl::Vec3f effectorReferencePosition_
Definition: rbprm-limb.hh:137
const double y_
Definition: rbprm-limb.hh:131
void init(const RbPrmLimbWkPtr_t &weakPtr)
Initialization.
const double x_
Definition: rbprm-limb.hh:130
sampling::SampleDB sampleContainer_
Definition: rbprm-limb.hh:134
const fcl::Vec3f limbOffset_
Definition: rbprm-limb.hh:128
sampling::heuristic evaluate_
Definition: rbprm-limb.hh:133
const ContactType contactType_
Definition: rbprm-limb.hh:132
Definition: sample-db.hh:90
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
double(* heuristic)(const sampling::Sample &sample, const Eigen::Vector3d &direction, const Eigen::Vector3d &normal, const HeuristicParam &params)
Definition: heuristic.hh:38
HPP_PREDEF_CLASS(RbPrmFullBody)
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > VectorX
Definition: rbprm-limb.hh:48
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
Definition: rbprm-limb.hh:46
HPP_RBPRM_DLLAPI bool saveLimbInfoAndDatabase(const RbPrmLimbPtr_t limb, std::ofstream &dbFile)
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:49
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 3 > MatrixX3
Definition: rbprm-limb.hh:47
ContactType
Definition: rbprm-limb.hh:30
@ _6_DOF
Definition: rbprm-limb.hh:31
@ _3_DOF
Definition: rbprm-limb.hh:32
@ _UNDEFINED
Definition: rbprm-limb.hh:33
T_Limb::const_iterator CIT_Limb
Definition: rbprm-limb.hh:44
shared_ptr< RbPrmLimb > RbPrmLimbPtr_t
Definition: rbprm-limb.hh:42
std::map< std::string, const rbprm::RbPrmLimbPtr_t > T_Limb
Definition: rbprm-limb.hh:43
Definition: algorithm.hh:26