hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T > Class Template Reference

#include <hpp/rbprm/interpolation/time-constraint-helper.hh>

Collaboration diagram for hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >:

Public Member Functions

 TimeConstraintHelper (RbPrmFullBodyPtr_t fullbody, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, core::ProblemPtr_t referenceProblem, core::PathPtr_t refPath, const pinocchio::value_type error_treshold=1e-3)
 
 ~TimeConstraintHelper ()
 
void SetConstraints (const State &from, const State &to)
 
void SetConfigShooter (const State &from, const State &to)
 
void InitConstraints ()
 
void SetContactConstraints (const State &from, const State &to)
 
core::PathVectorPtr_t Run (const State &from, const State &to, const size_t maxIterations=0)
 

Public Attributes

RbPrmFullBodyPtr_t fullbody_
 
core::DevicePtr_t fullBodyDevice_
 
core::ProblemPtr_t rootProblem_
 
core::PathPlannerPtr_t planner_
 
core::PathPtr_t refPath_
 
core::ConfigProjectorPtr_t proj_
 
shared_ptr< TimeConstraintSteering< Path_T > > steeringMethod_
 
const ShooterFactory_T & shooterFactory_
 
const ConstraintFactory_T & constraintFactory_
 

Detailed Description

template<class Path_T, class ShooterFactory_T, typename ConstraintFactory_T>
class hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >

Helper struct for applying creating planning problems with time dependant constraints in rbprm. Maintains a pointer to a RbPrmFullbody object, and creates a new instance of a problem for a clone of the associated Device.

Constructor & Destructor Documentation

◆ TimeConstraintHelper()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::TimeConstraintHelper ( RbPrmFullBodyPtr_t  fullbody,
const ShooterFactory_T &  shooterFactory,
const ConstraintFactory_T &  constraintFactory,
core::ProblemPtr_t  referenceProblem,
core::PathPtr_t  refPath,
const pinocchio::value_type  error_treshold = 1e-3 
)
inline
Parameters
fullbodyrobot considered for applying a planner. The associated Device will be cloned to avoid side effects during the planning, An extra DOF is added to the cloned device, as required by the algorithm.
referenceProbleman internal problem will be created, using this parameter as a reference, for retrieving collision obstacles

◆ ~TimeConstraintHelper()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::~TimeConstraintHelper ( )
inline

Member Function Documentation

◆ InitConstraints()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::InitConstraints ( )

◆ Run()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
core::PathVectorPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::Run ( const State from,
const State to,
const size_t  maxIterations = 0 
)

◆ SetConfigShooter()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::SetConfigShooter ( const State from,
const State to 
)

◆ SetConstraints()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::SetConstraints ( const State from,
const State to 
)
inline

◆ SetContactConstraints()

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::SetContactConstraints ( const State from,
const State to 
)

Member Data Documentation

◆ constraintFactory_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
const ConstraintFactory_T& hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::constraintFactory_

◆ fullbody_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
RbPrmFullBodyPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::fullbody_

◆ fullBodyDevice_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
core::DevicePtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::fullBodyDevice_

◆ planner_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
core::PathPlannerPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::planner_

◆ proj_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
core::ConfigProjectorPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::proj_

◆ refPath_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
core::PathPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::refPath_

◆ rootProblem_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
core::ProblemPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::rootProblem_

◆ shooterFactory_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
const ShooterFactory_T& hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::shooterFactory_

◆ steeringMethod_

template<class Path_T , class ShooterFactory_T , typename ConstraintFactory_T >
shared_ptr<TimeConstraintSteering<Path_T> > hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::steeringMethod_

The documentation for this class was generated from the following file: