hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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Namespaces | |
namespace | contact |
namespace | interpolation |
namespace | projection |
namespace | reachability |
namespace | sampling |
namespace | stability |
Classes | |
class | BezierPath |
class | DynamicPathValidation |
class | DynamicPlanner |
Generic implementation of RRT algorithm. More... | |
class | DynamicValidation |
class | DynamicValidationReport |
Exception thrown when a configuration is not within the bounds. More... | |
class | OrientedPathOptimizer |
class | ParabolaPath |
class | ParabolaPlanner |
Generic implementation of RRT algorithm. More... | |
class | RandomShortcutDynamic |
class | RbPrmFullBody |
class | RbPrmLimb |
class | RbPrmPathValidation |
class | RbPrmRomValidation |
class | RbPrmShooter |
class | RbPrmValidation |
struct | State |
class | SteeringMethodKinodynamic |
class | SteeringMethodParabola |
class | TimedParabolaPath |
struct | TrianglePoints |
Typedefs | |
typedef shared_ptr< RbPrmFullBody > | RbPrmFullBodyPtr_t |
typedef shared_ptr< DynamicPathValidation > | DynamicPathValidationPtr_t |
typedef shared_ptr< DynamicValidation > | DynamicValidationPtr_t |
typedef std::vector< pinocchio::vector_t, Eigen::aligned_allocator< pinocchio::vector_t > > | T_Configuration |
typedef T_Configuration::const_iterator | CIT_Configuration |
typedef ndcurves::bezier_curve< double, double, true, Eigen::Vector3d > | bezier_t |
typedef shared_ptr< bezier_t > | bezier_Ptr |
typedef shared_ptr< BezierPath > | BezierPathPtr_t |
typedef shared_ptr< const BezierPath > | BezierPathConstPtr_t |
typedef shared_ptr< DynamicPlanner > | DynamicPlannerPtr_t |
typedef shared_ptr< OrientedPathOptimizer > | OrientedPathOptimizerPtr_t |
typedef shared_ptr< ParabolaPath > | ParabolaPathPtr_t |
typedef shared_ptr< ParabolaPlanner > | ParabolaPlannerPtr_t |
typedef boost::tuple< core::NodePtr_t, core::ConfigurationPtr_t, core::PathPtr_t > | DelayedEdge_t |
typedef std::vector< DelayedEdge_t > | DelayedEdges_t |
typedef shared_ptr< RandomShortcutDynamic > | RandomShortcutDynamicPtr_t |
typedef shared_ptr< SteeringMethodKinodynamic > | SteeringMethodKinodynamicPtr_t |
typedef shared_ptr< SteeringMethodParabola > | SteeringMethodParabolaPtr_t |
typedef shared_ptr< TimedParabolaPath > | TimedParabolaPathPtr_t |
typedef hpp::core::Container< hpp::core::AffordanceObjects_t > | affMap_t |
typedef std::map< std::string, std::vector< bezier_Ptr > > | EffectorTrajectoriesMap_t |
typedef shared_ptr< RbPrmLimb > | RbPrmLimbPtr_t |
typedef std::map< std::string, const rbprm::RbPrmLimbPtr_t > | T_Limb |
typedef T_Limb::const_iterator | CIT_Limb |
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic > | MatrixXX |
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 3 > | MatrixX3 |
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > | VectorX |
typedef Eigen::Matrix< pinocchio::value_type, 3, 1 > | Vector3 |
typedef shared_ptr< RbPrmPathValidation > | RbPrmPathValidationPtr_t |
typedef shared_ptr< RbPrmRomValidation > | RbPrmRomValidationPtr_t |
typedef shared_ptr< RbPrmShooter > | RbPrmShooterPtr_t |
typedef std::vector< State > | T_State |
typedef T_State::const_iterator | CIT_State |
typedef std::pair< pinocchio::value_type, rbprm::State > | StateFrame |
typedef std::vector< StateFrame > | T_StateFrame |
typedef T_StateFrame::const_iterator | CIT_StateFrame |
typedef shared_ptr< RbPrmValidation > | RbPrmValidationPtr_t |
typedef std::map< std::string, RbPrmRomValidationPtr_t > | T_RomValidation |
Enumerations | |
enum | ContactType { _6_DOF = 0 , _3_DOF = 1 , _UNDEFINED } |
Functions | |
HPP_PREDEF_CLASS (RbPrmFullBody) | |
HPP_PREDEF_CLASS (DynamicPathValidation) | |
HPP_PREDEF_CLASS (DynamicValidation) | |
HPP_PREDEF_CLASS (BezierPath) | |
HPP_PREDEF_CLASS (DynamicPlanner) | |
HPP_PREDEF_CLASS (OrientedPathOptimizer) | |
HPP_PREDEF_CLASS (ParabolaPath) | |
HPP_PREDEF_CLASS (ParabolaPlanner) | |
HPP_PREDEF_CLASS (RandomShortcutDynamic) | |
HPP_PREDEF_CLASS (SteeringMethodKinodynamic) | |
HPP_PREDEF_CLASS (SteeringMethodParabola) | |
HPP_PREDEF_CLASS (TimedParabolaPath) | |
HPP_PREDEF_CLASS (RbPrmLimb) | |
HPP_RBPRM_DLLAPI bool | saveLimbInfoAndDatabase (const RbPrmLimbPtr_t limb, std::ofstream &dbFile) |
HPP_PREDEF_CLASS (RbPrmPathValidation) | |
HPP_PREDEF_CLASS (RbPrmShooter) | |
HPP_RBPRM_DLLAPI pinocchio::value_type | effectorDistance (const State &from, const State &to) |
template<typename Iter > | |
HPP_RBPRM_DLLAPI std::vector< std::string > | freeEffectors (const State &state, Iter start, Iter end) |
typedef hpp::core::Container< hpp::core::AffordanceObjects_t > hpp::rbprm::affMap_t |
typedef shared_ptr<bezier_t> hpp::rbprm::bezier_Ptr |
typedef ndcurves::bezier_curve<double, double, true, Eigen::Vector3d> hpp::rbprm::bezier_t |
typedef shared_ptr<const BezierPath> hpp::rbprm::BezierPathConstPtr_t |
typedef shared_ptr<BezierPath> hpp::rbprm::BezierPathPtr_t |
typedef T_Configuration::const_iterator hpp::rbprm::CIT_Configuration |
typedef T_Limb::const_iterator hpp::rbprm::CIT_Limb |
typedef T_State::const_iterator hpp::rbprm::CIT_State |
typedef T_StateFrame::const_iterator hpp::rbprm::CIT_StateFrame |
typedef shared_ptr<DynamicPathValidation> hpp::rbprm::DynamicPathValidationPtr_t |
typedef shared_ptr<DynamicValidation> hpp::rbprm::DynamicValidationPtr_t |
typedef std::map<std::string, std::vector<bezier_Ptr> > hpp::rbprm::EffectorTrajectoriesMap_t |
typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 3> hpp::rbprm::MatrixX3 |
typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic> hpp::rbprm::MatrixXX |
typedef shared_ptr<ParabolaPath> hpp::rbprm::ParabolaPathPtr_t |
typedef shared_ptr< RbPrmFullBody > hpp::rbprm::RbPrmFullBodyPtr_t |
typedef shared_ptr<RbPrmLimb> hpp::rbprm::RbPrmLimbPtr_t |
typedef shared_ptr<RbPrmPathValidation> hpp::rbprm::RbPrmPathValidationPtr_t |
typedef shared_ptr<RbPrmRomValidation> hpp::rbprm::RbPrmRomValidationPtr_t |
typedef shared_ptr<RbPrmShooter> hpp::rbprm::RbPrmShooterPtr_t |
typedef shared_ptr<RbPrmValidation> hpp::rbprm::RbPrmValidationPtr_t |
typedef std::pair<pinocchio::value_type, rbprm::State> hpp::rbprm::StateFrame |
typedef shared_ptr<SteeringMethodKinodynamic> hpp::rbprm::SteeringMethodKinodynamicPtr_t |
typedef std::vector<pinocchio::vector_t, Eigen::aligned_allocator<pinocchio::vector_t> > hpp::rbprm::T_Configuration |
typedef std::map<std::string, const rbprm::RbPrmLimbPtr_t> hpp::rbprm::T_Limb |
typedef std::map<std::string, RbPrmRomValidationPtr_t> hpp::rbprm::T_RomValidation |
typedef std::vector<State> hpp::rbprm::T_State |
typedef std::vector<StateFrame> hpp::rbprm::T_StateFrame |
typedef shared_ptr<TimedParabolaPath> hpp::rbprm::TimedParabolaPathPtr_t |
typedef Eigen::Matrix<pinocchio::value_type, 3, 1> hpp::rbprm::Vector3 |
typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 1> hpp::rbprm::VectorX |
HPP_RBPRM_DLLAPI pinocchio::value_type hpp::rbprm::effectorDistance | ( | const State & | from, |
const State & | to | ||
) |
Given two State, compute the contact effectors distance travelled between two states
HPP_RBPRM_DLLAPI std::vector< std::string > hpp::rbprm::freeEffectors | ( | const State & | state, |
Iter | start, | ||
Iter | end | ||
) |
Given a State and a list of effectors, computes the list of all the effectors that moved between the two States (ie contact was not maintained)
hpp::rbprm::HPP_PREDEF_CLASS | ( | BezierPath | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | DynamicPathValidation | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | DynamicValidation | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | ParabolaPath | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | RbPrmFullBody | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | RbPrmLimb | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | RbPrmPathValidation | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | RbPrmShooter | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | SteeringMethodKinodynamic | ) |
hpp::rbprm::HPP_PREDEF_CLASS | ( | TimedParabolaPath | ) |
HPP_RBPRM_DLLAPI bool hpp::rbprm::saveLimbInfoAndDatabase | ( | const RbPrmLimbPtr_t | limb, |
std::ofstream & | dbFile | ||
) |