hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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projection.hh
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1
5// This file is part of hpp-wholebody-step.
6// hpp-wholebody-step-planner is free software: you can redistribute it
7// and/or modify it under the terms of the GNU Lesser General Public
8// License as published by the Free Software Foundation, either version
9// 3 of the License, or (at your option) any later version.
10//
11// hpp-wholebody-step-planner is distributed in the hope that it will be
12// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14// General Lesser Public License for more details. You should have
15// received a copy of the GNU Lesser General Public License along with
16// hpp-wholebody-step-planner. If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_RBPRM_PROJECTION_HH
20#define HPP_RBPRM_PROJECTION_HH
21
24#include <hpp/rbprm/reports.hh>
25
26namespace hpp {
27namespace rbprm {
28namespace projection {
29
37 hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f& target,
38 const hpp::rbprm::State& currentState);
39
45 hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f& target,
46 const hpp::rbprm::State& currentState);
47
53 hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f& target,
54 const hpp::rbprm::State& currentState);
55
65 const pinocchio::ConfigurationIn_t conf,
66 const hpp::rbprm::State& currentState,
67 const Vector3 offset = Vector3::Zero());
68
74 const core::CollisionValidationPtr_t& validation, const std::string& limb,
75 const hpp::rbprm::State& currentState);
76
78 const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId,
79 const hpp::rbprm::RbPrmLimbPtr_t& limb, const hpp::rbprm::State& current,
80 const fcl::Vec3f& normal, const fcl::Vec3f& position,
81 bool lockOtherJoints = false,
82 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
83
85 const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId,
86 const hpp::rbprm::RbPrmLimbPtr_t& limb, const hpp::rbprm::State& current,
87 const fcl::Vec3f& normal, const fcl::Vec3f& position,
88 core::CollisionValidationPtr_t validation, bool lockOtherJoints = false,
89 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
90
92 const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId,
94 const sampling::OctreeReport& report,
95 core::CollisionValidationPtr_t validation,
96 pinocchio::ConfigurationOut_t configuration,
97 const hpp::rbprm::State& current);
98
100 core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t& body,
101 const std::string& limbId, const hpp::rbprm::RbPrmLimbPtr_t& limb,
102 core::CollisionValidationPtr_t validation,
103 pinocchio::ConfigurationOut_t configuration,
104 const fcl::Matrix3f& rotationTarget, std::vector<bool> rotationFilter,
105 const fcl::Vec3f& positionTarget, const fcl::Vec3f& normal,
106 const hpp::rbprm::State& current);
107
108fcl::Transform3f HPP_RBPRM_DLLAPI
110 const hpp::rbprm::RbPrmLimbPtr_t& limb,
111 const pinocchio::ConfigurationIn_t configuration,
112 const fcl::Vec3f& normal, const fcl::Vec3f& position,
113 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
114
115} // namespace projection
116} // namespace rbprm
117} // namespace hpp
118#endif // HPP_RBPRM_PROJECTION_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
ProjectionReport HPP_RBPRM_DLLAPI projectToColFreeComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
ProjectionReport HPP_RBPRM_DLLAPI projectToRootPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
ProjectionReport HPP_RBPRM_DLLAPI projectToRootConfiguration(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State &currentState, const Vector3 offset=Vector3::Zero())
ProjectionReport HPP_RBPRM_DLLAPI setCollisionFree(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State &currentState)
ProjectionReport HPP_RBPRM_DLLAPI projectStateToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State &current, const fcl::Vec3f &normal, const fcl::Vec3f &position, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
ProjectionReport HPP_RBPRM_DLLAPI projectEffector(core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const fcl::Matrix3f &rotationTarget, std::vector< bool > rotationFilter, const fcl::Vec3f &positionTarget, const fcl::Vec3f &normal, const hpp::rbprm::State &current)
ProjectionReport HPP_RBPRM_DLLAPI projectToComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
ProjectionReport HPP_RBPRM_DLLAPI projectSampleToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const sampling::OctreeReport &report, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const hpp::rbprm::State &current)
fcl::Transform3f HPP_RBPRM_DLLAPI computeProjectionMatrix(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const hpp::rbprm::RbPrmLimbPtr_t &limb, const pinocchio::ConfigurationIn_t configuration, const fcl::Vec3f &normal, const fcl::Vec3f &position, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:49
shared_ptr< RbPrmLimb > RbPrmLimbPtr_t
Definition: rbprm-limb.hh:42
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
Definition: sample-db.hh:38