hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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kinematics_constraints.hh
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1#ifndef HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
2#define HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
3
4#include <hpp/pinocchio/configuration.hh>
7namespace hpp {
8namespace rbprm {
9
11class RbPrmFullBody;
12typedef shared_ptr<RbPrmFullBody> RbPrmFullBodyPtr_t;
13
14namespace reachability {
15
24std::pair<MatrixX3, MatrixX3> loadConstraintsFromObj(
25 const std::string& fileName, double minDistance = 0.);
26
27std::pair<MatrixX3, VectorX> computeAllKinematicsConstraints(
28 const RbPrmFullBodyPtr_t& fullBody,
29 const pinocchio::ConfigurationPtr_t& configuration);
30
31std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForState(
32 const RbPrmFullBodyPtr_t& fullBody, const State& state);
33
34std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForLimb(
35 const RbPrmFullBodyPtr_t& fullBody, const State& state,
36 const std::string& limbName);
37
38std::pair<MatrixX3, VectorX> getInequalitiesAtTransform(
39 const std::pair<MatrixX3, MatrixX3>& NV,
40 const hpp::pinocchio::Transform3f& transform);
41
42bool verifyKinematicConstraints(const std::pair<MatrixX3, VectorX>& Ab,
43 const fcl::Vec3f& point);
44
45bool verifyKinematicConstraints(const std::pair<MatrixX3, MatrixX3>& NV,
46 const hpp::pinocchio::Transform3f& transform,
47 const fcl::Vec3f& point);
48
50 const State& state, fcl::Vec3f point);
51
52} // namespace reachability
53} // namespace rbprm
54} // namespace hpp
55
56#endif // KINEMATICS_CONSTRAINTS_HH
Definition: rbprm-fullbody.hh:51
bool verifyKinematicConstraints(const std::pair< MatrixX3, VectorX > &Ab, const fcl::Vec3f &point)
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForLimb(const RbPrmFullBodyPtr_t &fullBody, const State &state, const std::string &limbName)
std::pair< MatrixX3, MatrixX3 > loadConstraintsFromObj(const std::string &fileName, double minDistance=0.)
loadConstraintsFromObj load the obj file and compute a list of normal and vertex position from it
std::pair< MatrixX3, VectorX > getInequalitiesAtTransform(const std::pair< MatrixX3, MatrixX3 > &NV, const hpp::pinocchio::Transform3f &transform)
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForState(const RbPrmFullBodyPtr_t &fullBody, const State &state)
std::pair< MatrixX3, VectorX > computeAllKinematicsConstraints(const RbPrmFullBodyPtr_t &fullBody, const pinocchio::ConfigurationPtr_t &configuration)
HPP_PREDEF_CLASS(RbPrmFullBody)
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40