hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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hpp::core::RbprmNode Class Reference

#include <hpp/rbprm/planner/rbprm-node.hh>

Inheritance diagram for hpp::core::RbprmNode:
Collaboration diagram for hpp::core::RbprmNode:

Public Member Functions

 RbprmNode (const ConfigurationPtr_t &configuration)
 
 RbprmNode (const ConfigurationPtr_t &configuration, ConnectedComponentPtr_t connectedComponent)
 
fcl::Vec3f getNormal ()
 
void normal (double x, double y, double z)
 
void normal (fcl::Vec3f n)
 
RbprmValidationReportPtr_t getReport ()
 
void collisionReport (RbprmValidationReportPtr_t report)
 
void setV (MatrixXX V)
 
MatrixXX getV ()
 
void setIPHat (Matrix6X m)
 
Matrix6X getIPhat ()
 
void setG (Matrix6X G)
 
Matrix6X getG ()
 
void setH (Matrix63 H)
 
Matrix63 getH ()
 
void seth (Vector6 h)
 
Vector6 geth ()
 
void setNumberOfContacts (size_type n)
 
size_type getNumberOfContacts ()
 
void fillNodeMatrices (ValidationReportPtr_t report, bool rectangularContact, double sizeFootx, double sizeFooty, double m, double mu, pinocchio::RbPrmDevicePtr_t device)
 
void chooseBestContactSurface (ValidationReportPtr_t report, hpp::pinocchio::RbPrmDevicePtr_t device)
 
Eigen::Quaterniond getQuaternion ()
 

Constructor & Destructor Documentation

◆ RbprmNode() [1/2]

hpp::core::RbprmNode::RbprmNode ( const ConfigurationPtr_t &  configuration)
inline

Constructor

Parameters
configurationconfiguration stored in the new node
Note
A new connected component is created. For consistency, the new node is not registered in the connected component.

◆ RbprmNode() [2/2]

hpp::core::RbprmNode::RbprmNode ( const ConfigurationPtr_t &  configuration,
ConnectedComponentPtr_t  connectedComponent 
)
inline

Constructor

Parameters
configurationconfiguration stored in the new node
connectedComponentconnected component the node belongs to.

Member Function Documentation

◆ chooseBestContactSurface()

void hpp::core::RbprmNode::chooseBestContactSurface ( ValidationReportPtr_t  report,
hpp::pinocchio::RbPrmDevicePtr_t  device 
)

◆ collisionReport()

void hpp::core::RbprmNode::collisionReport ( RbprmValidationReportPtr_t  report)
inline

◆ fillNodeMatrices()

void hpp::core::RbprmNode::fillNodeMatrices ( ValidationReportPtr_t  report,
bool  rectangularContact,
double  sizeFootx,
double  sizeFooty,
double  m,
double  mu,
pinocchio::RbPrmDevicePtr_t  device 
)

◆ getG()

Matrix6X hpp::core::RbprmNode::getG ( )
inline

◆ getH()

Matrix63 hpp::core::RbprmNode::getH ( )
inline

◆ geth()

Vector6 hpp::core::RbprmNode::geth ( )
inline

◆ getIPhat()

Matrix6X hpp::core::RbprmNode::getIPhat ( )
inline

◆ getNormal()

fcl::Vec3f hpp::core::RbprmNode::getNormal ( )
inline

◆ getNumberOfContacts()

size_type hpp::core::RbprmNode::getNumberOfContacts ( )
inline

◆ getQuaternion()

Eigen::Quaterniond hpp::core::RbprmNode::getQuaternion ( )

◆ getReport()

RbprmValidationReportPtr_t hpp::core::RbprmNode::getReport ( )
inline

◆ getV()

MatrixXX hpp::core::RbprmNode::getV ( )
inline

◆ normal() [1/2]

void hpp::core::RbprmNode::normal ( double  x,
double  y,
double  z 
)
inline

◆ normal() [2/2]

void hpp::core::RbprmNode::normal ( fcl::Vec3f  n)
inline

◆ setG()

void hpp::core::RbprmNode::setG ( Matrix6X  G)
inline

◆ setH()

void hpp::core::RbprmNode::setH ( Matrix63  H)
inline

◆ seth()

void hpp::core::RbprmNode::seth ( Vector6  h)
inline

◆ setIPHat()

void hpp::core::RbprmNode::setIPHat ( Matrix6X  m)
inline

◆ setNumberOfContacts()

void hpp::core::RbprmNode::setNumberOfContacts ( size_type  n)
inline

◆ setV()

void hpp::core::RbprmNode::setV ( MatrixXX  V)
inline

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