hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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algorithm.hh
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1
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-wholebody-step-planner 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-wholebody-step-planner. If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_RBPRM_ALGORITHM_HH
20#define HPP_RBPRM_ALGORITHM_HH
21
23#include <hpp/rbprm/reports.hh>
24#include <queue>
25
26namespace hpp {
27namespace rbprm {
28namespace contact {
29
38
56 pinocchio::ConfigurationIn_t configuration, const affMap_t& affordances,
57 const std::map<std::string, std::vector<std::string> >& affFilters,
58 const fcl::Vec3f& direction, const double robustnessTreshold = 0,
59 const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0));
60
82 const hpp::rbprm::State& previous,
84 pinocchio::ConfigurationIn_t configuration, const affMap_t& affordances,
85 const std::map<std::string, std::vector<std::string> >& affFilters,
86 const fcl::Vec3f& direction, const double robustnessTreshold = 0,
87 const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0),
88 const core::PathConstPtr_t& comPath = core::PathPtr_t(),
89 const double currentPathId = 0, const bool testReachability = true,
90 const bool quasiStatic = false);
91
92} // namespace contact
93} // namespace rbprm
94} // namespace hpp
95#endif // HPP_RBPRM_ALGORITHM_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
hpp::rbprm::State HPP_RBPRM_DLLAPI ComputeContacts(const hpp::rbprm::RbPrmFullBodyPtr_t &body, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const fcl::Vec3f &direction, const double robustnessTreshold=0, const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0))
ContactReport HPP_RBPRM_DLLAPI oneStep(ContactGenHelper &helper)
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
Definition: contact_generation.hh:35
Definition: reports.hh:51