hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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effector-rrt.hh File Reference
#include <ndcurves/bezier_curve.h>
#include <ndcurves/curve_constraint.h>
#include <ndcurves/exact_cubic.h>
#include <hpp/core/config-projector.hh>
#include <hpp/core/path.hh>
#include <hpp/core/problem.hh>
#include <hpp/rbprm/config.hh>
#include <hpp/rbprm/interpolation/com-rrt.hh>
#include <hpp/rbprm/interpolation/interpolation-constraints.hh>
#include <hpp/rbprm/interpolation/spline/bezier-path.hh>
#include <hpp/rbprm/interpolation/time-constraint-helper.hh>
#include <hpp/rbprm/interpolation/time-constraint-path.hh>
#include <hpp/rbprm/interpolation/time-constraint-steering.hh>
#include <hpp/rbprm/rbprm-device.hh>
#include <hpp/rbprm/rbprm-fullbody.hh>
#include <hpp/rbprm/rbprm-state.hh>
#include <map>
#include <vector>
Include dependency graph for effector-rrt.hh:

Go to the source code of this file.

Classes

struct  hpp::rbprm::interpolation::SetEffectorRRTConstraints
 
struct  hpp::rbprm::interpolation::EndEffectorPath
 

Namespaces

namespace  hpp
 
namespace  hpp::rbprm
 
namespace  hpp::rbprm::interpolation
 

Typedefs

typedef TimeConstraintHelper< TimeConstraintPath, EffectorRRTShooterFactory, SetEffectorRRTConstraints > hpp::rbprm::interpolation::EffectorRRTHelper
 
typedef ndcurves::exact_cubic< double, double, true, Eigen::Matrix< value_type, 3, 1 > > hpp::rbprm::interpolation::exact_cubic_t
 
typedef ndcurves::curve_constraints< Eigen::Matrix< value_type, 3, 1 > > hpp::rbprm::interpolation::curve_constraint_t
 
typedef shared_ptr< exact_cubic_t > hpp::rbprm::interpolation::exact_cubic_Ptr
 

Functions

core::PathPtr_t hpp::rbprm::interpolation::effectorRRT (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof)
 
core::PathPtr_t hpp::rbprm::interpolation::effectorRRT (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof, const std::vector< std::string > &constrainedJointPos=std::vector< std::string >(), const std::vector< std::string > &constrainedLockedJoints=std::vector< std::string >())
 
core::PathPtr_t hpp::rbprm::interpolation::generateEndEffectorBezier (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState)
 
PathPtr_t hpp::rbprm::interpolation::effectorRRTFromPath (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t fullBodyComPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof, const PathPtr_t refPath, const std::vector< std::string > &constrainedJointPos, const std::vector< std::string > &constrainedLockedJoints)
 effectorRRTFromPath Call comRRT to compute a whole body path between two states, then compute an end-effector's trajectory with a bezier curve that fit the initial path found by the rrt, and recompute the whole body trajectory that follow the end effector constraint More...
 
core::PathPtr_t hpp::rbprm::interpolation::effectorRRTFromPath (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof, const PathPtr_t refFullBodyPath, const std::vector< std::string > &constrainedJointPos=std::vector< std::string >(), const std::vector< std::string > &constrainedLockedJoints=std::vector< std::string >())
 effectorRRTFromPath Call comRRT to compute a whole body path between two states, then compute an end-effector's trajectory with a bezier curve that fit the initial path found by the rrt, and recompute the whole body trajectory that follow the end effector constraint More...
 
std::vector< core::PathVectorPtr_t > hpp::rbprm::interpolation::fitBeziersToPath (RbPrmFullBodyPtr_t fullbody, const pinocchio::Frame &effector, const value_type comPathLength, const PathPtr_t fullBodyComPath, const State &startState, const State &nextState)
 fitBeziersToPath generate a vector of pathVector : each pathVector containt BezierPath, computed with varying value of weight-rrt More...