hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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interpolation-constraints.hh File Reference
#include <hpp/constraints/configuration-constraint.hh>
#include <hpp/constraints/relative-com.hh>
#include <hpp/constraints/symbolic-calculus.hh>
#include <hpp/constraints/symbolic-function.hh>
#include <hpp/core/config-projector.hh>
#include <hpp/core/path.hh>
#include <hpp/core/problem.hh>
#include <hpp/pinocchio/configuration.hh>
#include <hpp/pinocchio/frame.hh>
#include <hpp/rbprm/interpolation/time-constraint-utils.hh>
#include <hpp/rbprm/interpolation/time-dependant.hh>
#include <pinocchio/fwd.hpp>
#include <pinocchio/multibody/frame.hpp>
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Classes

struct  hpp::rbprm::interpolation::VecRightSide< Reference >
 
struct  hpp::rbprm::interpolation::funEvaluator< Reference, fun >
 

Namespaces

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

Typedefs

typedef constraints::PointCom hpp::rbprm::interpolation::PointCom
 
typedef constraints::CalculusBaseAbstract< PointCom::ValueType_t, PointCom::JacobianType_t > hpp::rbprm::interpolation::s_t
 
typedef constraints::SymbolicFunction< s_t > hpp::rbprm::interpolation::PointComFunction
 
typedef constraints::SymbolicFunction< s_t >::Ptr_t hpp::rbprm::interpolation::PointComFunctionPtr_t
 

Functions

template<class Helper_T >
void hpp::rbprm::interpolation::CreateContactConstraints (const State &from, const State &to)
 
template<class Helper_T , typename Reference >
void hpp::rbprm::interpolation::CreateEffectorConstraint (Helper_T &helper, const Reference &ref, const pinocchio::Frame effectorJoint, const fcl::Vec3f &initTarget=fcl::Vec3f())
 
template<class Helper_T , typename Reference >
void hpp::rbprm::interpolation::Create6DEffectorConstraint (Helper_T &helper, const Reference &ref, const pinocchio::Frame effectorJoint, const fcl::Transform3f &initTarget=fcl::Transform3f())
 
template<class Helper_T , typename Reference >
void hpp::rbprm::interpolation::CreateOrientationConstraint (Helper_T &helper, const Reference &ref, const pinocchio::Frame effector, const pinocchio::DevicePtr_t endEffectorDevice, const fcl::Transform3f &initTarget=fcl::Transform3f())
 
template<class Helper_T , typename Reference >
void hpp::rbprm::interpolation::CreateComConstraint (Helper_T &helper, const Reference &ref, const fcl::Vec3f &initTarget=fcl::Vec3f())
 
template<class Helper_T , typename Reference >
void hpp::rbprm::interpolation::CreatePosturalTaskConstraint (Helper_T &helper, const Reference &ref)
 
constraints::PositionPtr_t hpp::rbprm::interpolation::createPositionMethod (pinocchio::DevicePtr_t device, const fcl::Vec3f &initTarget, const pinocchio::Frame effectorFrame)
 
constraints::OrientationPtr_t hpp::rbprm::interpolation::createOrientationMethod (pinocchio::DevicePtr_t device, const fcl::Transform3f &initTarget, const pinocchio::Frame effectorFrame)
 
void hpp::rbprm::interpolation::addContactConstraints (rbprm::RbPrmFullBodyPtr_t fullBody, pinocchio::DevicePtr_t device, core::ConfigProjectorPtr_t projector, const State &state, const std::vector< std::string > active)
 
template<class Helper_T >
void hpp::rbprm::interpolation::CreateContactConstraints (Helper_T &helper, const State &from, const State &to)
 
std::string hpp::rbprm::interpolation::getEffectorLimb (const State &startState, const State &nextState)
 
fcl::Vec3f hpp::rbprm::interpolation::getNormal (const std::string &effector, const State &state, bool &found)
 
pinocchio::Frame hpp::rbprm::interpolation::getEffector (RbPrmFullBodyPtr_t fullbody, const State &startState, const State &nextState)
 
DevicePtr_t hpp::rbprm::interpolation::createFreeFlyerDevice ()