hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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com-rrt.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Steve Tonneau (steve.tonneau@laas.fr)
4//
5// This file is part of hpp-rbprm.
6// hpp-rbprm 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-rbprm 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-core If not, see
17// <http://www.gnu.org/licenses/>.
18
19#ifndef HPP_RBPRM_COM_RRT_HH
20#define HPP_RBPRM_COM_RRT_HH
21
22#include <hpp/core/config-projector.hh>
23#include <hpp/core/path.hh>
24#include <hpp/core/problem.hh>
25#include <hpp/rbprm/config.hh>
33#include <map>
34#include <vector>
35
36namespace hpp {
37namespace rbprm {
38namespace interpolation {
39
40struct SetComRRTConstraints;
41
42typedef TimeConstraintHelper<TimeConstraintPath, ComRRTShooterFactory,
43 SetComRRTConstraints>
46 void operator()(ComRRTHelper& helper, const State& from,
47 const State& to) const;
48};
49
50core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody,
51 core::ProblemSolverPtr_t problemSolver,
52 const PathPtr_t comPath, const State& startState,
53 const State& nextState,
54 const std::size_t numOptimizations,
55 const bool keepExtraDof =
56 false); // needed because of the definition of t_rrt
57 // struct, but problemSolver is not used
58
59core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody,
60 core::ProblemPtr_t referenceProblem,
61 const PathPtr_t comPath, const State& startState,
62 const State& nextState,
63 const std::size_t numOptimizations,
64 const bool keepExtraDof = false);
65
66core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody,
67 core::ProblemSolverPtr_t problemSolver,
68 const PathPtr_t comPath,
69 const PathPtr_t guidePath,
70 const CIT_StateFrame& startState,
71 const CIT_StateFrame& endState,
72 const std::size_t numOptimizations);
73
74core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody,
75 core::ProblemPtr_t referenceProblem,
76 const State& model,
77 const fcl::Vec3f& targetCom, bool& success);
78
79/*typedef
80std::vector<pinocchio::vector_t,Eigen::aligned_allocator<pinocchio::vector_t> >
81T_Configuration; core::PathPtr_t generateComTraj(const T_Configuration&
82configurations, const pinocchio::value_type dt, const
83pinocchio::ConfigurationIn_t & initSpeed, const pinocchio::ConfigurationIn_t
84endSpeed);*/
85} // namespace interpolation
86} // namespace rbprm
87} // namespace hpp
88
89#endif // HPP_RBPRM_COM_RRT_HH
Definition: time-constraint-helper.hh:45
core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > ComRRTHelper
Definition: com-rrt.hh:44
core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)
core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:35
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
void operator()(ComRRTHelper &helper, const State &from, const State &to) const