hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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kinematics_constraints.hh File Reference
#include <hpp/pinocchio/configuration.hh>
#include <hpp/rbprm/rbprm-limb.hh>
#include <hpp/rbprm/rbprm-state.hh>
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Namespaces

namespace  hpp
 
namespace  hpp::rbprm
 
namespace  hpp::rbprm::reachability
 

Typedefs

typedef shared_ptr< RbPrmFullBody > hpp::rbprm::RbPrmFullBodyPtr_t
 

Functions

 hpp::rbprm::HPP_PREDEF_CLASS (RbPrmFullBody)
 
std::pair< MatrixX3, MatrixX3 > hpp::rbprm::reachability::loadConstraintsFromObj (const std::string &fileName, double minDistance=0.)
 loadConstraintsFromObj load the obj file and compute a list of normal and vertex position from it More...
 
std::pair< MatrixX3, VectorX > hpp::rbprm::reachability::computeAllKinematicsConstraints (const RbPrmFullBodyPtr_t &fullBody, const pinocchio::ConfigurationPtr_t &configuration)
 
std::pair< MatrixX3, VectorX > hpp::rbprm::reachability::computeKinematicsConstraintsForState (const RbPrmFullBodyPtr_t &fullBody, const State &state)
 
std::pair< MatrixX3, VectorX > hpp::rbprm::reachability::computeKinematicsConstraintsForLimb (const RbPrmFullBodyPtr_t &fullBody, const State &state, const std::string &limbName)
 
std::pair< MatrixX3, VectorX > hpp::rbprm::reachability::getInequalitiesAtTransform (const std::pair< MatrixX3, MatrixX3 > &NV, const hpp::pinocchio::Transform3f &transform)
 
bool hpp::rbprm::reachability::verifyKinematicConstraints (const std::pair< MatrixX3, VectorX > &Ab, const fcl::Vec3f &point)
 
bool hpp::rbprm::reachability::verifyKinematicConstraints (const std::pair< MatrixX3, MatrixX3 > &NV, const hpp::pinocchio::Transform3f &transform, const fcl::Vec3f &point)
 
bool hpp::rbprm::reachability::verifyKinematicConstraints (const RbPrmFullBodyPtr_t &fullbody, const State &state, fcl::Vec3f point)