hpp-affordance: hpp-affordance

hpp-affordance 9.0.2 Implementation to Extract Whole-Body Affordances for Mutli-Contact Planning.

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hpp-affordance

# Introduction

This package implements a library that builds representations of a robot's environment in terms of affordances, which describe surrounding objects based on their application possibilities. For instance, large vertical surfaces may be applied for leaning, whereas smaller horizontal surface areas (e.g. stairs) allow for a robot to step on them.

hpp-affordance utilises triangulated meshes created from objects of type coal::collisionObject as implemented in coal. Please refer to its package documentation for details.

There are some helper classes within this package that help in the affordance analysis. For example:

- hpp::affordance::Affordance
- hpp::affordance::SemanticsData
- hpp::affordance::OperationBase

However, the main functionality is provided by free functions, such as

- hpp::affordance::affordanceAnalysis