hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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Namespaces | |
namespace | io |
Some io tools for serialization. | |
Functions | |
Eigen::Matrix3d | GetRotationMatrix (const Eigen::Vector3d &from, const Eigen::Vector3d &to) |
Uses Rodriguez formula to find transformation between two vectors. More... | |
fcl::Matrix3f | GetZRotMatrix (const core::value_type theta) |
fcl::Matrix3f | GetYRotMatrix (const core::value_type theta) |
fcl::Matrix3f | GetXRotMatrix (const core::value_type theta) |
pinocchio::Configuration_t | interpolate (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2, const pinocchio::value_type &u) |
pinocchio::value_type | distance (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2) |
template<typename K , typename V > | |
void | addToMap (const K &key, const V &value) |
template<typename T > | |
bool | insertIfNew (std::vector< T > &data, const T &value) |
template<typename T > | |
void | RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const core::ObjectStdVector_t &obstacles) |
template<typename T > | |
void | RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const pinocchio::CollisionObjectPtr_t obstacle) |
template<typename T > | |
void | RemoveEffectorCollisionRec (T &validation, pinocchio::JointPtr_t joint, const pinocchio::CollisionObjectPtr_t obstacle) |
void | LockJointRec (const std::string &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector) |
void | LockJointRec (const std::vector< std::string > &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector) |
void | LockJoint (const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector, const bool constant=true) |
template<typename T > | |
void | addLimbCollisionRec (pinocchio::JointPtr_t joint, const pinocchio::Frame &effector, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation, const bool disableEffectorCollision) |
template<typename T > | |
void | RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::string &limbname, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation) |
template<typename T > | |
void | RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::vector< std::string > &keepers, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation) |
template<typename K , typename V > | |
void | addToMap (std::map< K, V > &map, const K &key, const V &value) |
void hpp::tools::addLimbCollisionRec | ( | pinocchio::JointPtr_t | joint, |
const pinocchio::Frame & | effector, | ||
const core::ObjectStdVector_t & | collisionObjects, | ||
T & | collisionValidation, | ||
const bool | disableEffectorCollision | ||
) |
void hpp::tools::addToMap | ( | const K & | key, |
const V & | value | ||
) |
void hpp::tools::addToMap | ( | std::map< K, V > & | map, |
const K & | key, | ||
const V & | value | ||
) |
pinocchio::value_type hpp::tools::distance | ( | pinocchio::ConfigurationIn_t | q1, |
pinocchio::ConfigurationIn_t | q2 | ||
) |
Eigen::Matrix3d hpp::tools::GetRotationMatrix | ( | const Eigen::Vector3d & | from, |
const Eigen::Vector3d & | to | ||
) |
Uses Rodriguez formula to find transformation between two vectors.
fcl::Matrix3f hpp::tools::GetXRotMatrix | ( | const core::value_type | theta | ) |
fcl::Matrix3f hpp::tools::GetYRotMatrix | ( | const core::value_type | theta | ) |
fcl::Matrix3f hpp::tools::GetZRotMatrix | ( | const core::value_type | theta | ) |
bool hpp::tools::insertIfNew | ( | std::vector< T > & | data, |
const T & | value | ||
) |
pinocchio::Configuration_t hpp::tools::interpolate | ( | pinocchio::ConfigurationIn_t | q1, |
pinocchio::ConfigurationIn_t | q2, | ||
const pinocchio::value_type & | u | ||
) |
void hpp::tools::LockJoint | ( | const pinocchio::JointPtr_t | joint, |
core::ConfigProjectorPtr_t | projector, | ||
const bool | constant = true |
||
) |
Lock a single joint
joint | of the considered kinematic chain to block |
projector | Projector on which to block the joints |
constant | if false, joint lock constraint can be updated with rightHandSide method |
void hpp::tools::LockJointRec | ( | const std::string & | spared, |
const pinocchio::JointPtr_t | joint, | ||
core::ConfigProjectorPtr_t | projector | ||
) |
Lock all joints in a kinematic chain, except for one joint and its subchain
spared | Name of the root of the unlocked kinematic chain |
joint | Root of the considered kinematic chain to block |
projector | Projector on which to block the joints |
void hpp::tools::LockJointRec | ( | const std::vector< std::string > & | spared, |
const pinocchio::JointPtr_t | joint, | ||
core::ConfigProjectorPtr_t | projector | ||
) |
Lock all joints in a kinematic chain, except for a list of subchains
spared | names of the root of the unlocked kinematic chains |
joint | Root of the considered kinematic chain to block |
projector | Projector on which to block the joints |
void hpp::tools::RemoveEffectorCollision | ( | T & | validation, |
pinocchio::JointPtr_t | effectorJoint, | ||
const core::ObjectStdVector_t & | obstacles | ||
) |
void hpp::tools::RemoveEffectorCollision | ( | T & | validation, |
pinocchio::JointPtr_t | effectorJoint, | ||
const pinocchio::CollisionObjectPtr_t | obstacle | ||
) |
void hpp::tools::RemoveEffectorCollisionRec | ( | T & | validation, |
pinocchio::JointPtr_t | joint, | ||
const pinocchio::CollisionObjectPtr_t | obstacle | ||
) |
void hpp::tools::RemoveNonLimbCollisionRec | ( | const pinocchio::JointPtr_t | joint, |
const std::string & | limbname, | ||
const core::ObjectStdVector_t & | collisionObjects, | ||
T & | collisionValidation | ||
) |
void hpp::tools::RemoveNonLimbCollisionRec | ( | const pinocchio::JointPtr_t | joint, |
const std::vector< std::string > & | keepers, | ||
const core::ObjectStdVector_t & | collisionObjects, | ||
T & | collisionValidation | ||
) |