hpp::manipulation::pathOptimization::EnforceTransitionSemantic Class Reference

#include <hpp/manipulation/path-optimization/enforce-transition-semantic.hh>

Inheritance diagram for hpp::manipulation::pathOptimization::EnforceTransitionSemantic:

Collaboration diagram for hpp::manipulation::pathOptimization::EnforceTransitionSemantic:

Public Types
typedef hpp::core::PathVectorPtr_t	PathVectorPtr_t
typedef shared_ptr< EnforceTransitionSemantic >	Ptr_t

Public Member Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()
ProblemConstPtr_t	problem () const
void	interrupt ()
void	maxIterations (const unsigned long int &n)
void	timeOut (const double &timeOut)

Static Public Member Functions
static Ptr_t	create (const core::ProblemConstPtr_t &problem)

Protected Member Functions
	EnforceTransitionSemantic (const ProblemConstPtr_t &problem)
	Constructor.
Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const ProblemConstPtr_t &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
void	monitorExecution ()
void	endIteration ()
bool	shouldStop () const
void	initFromParameters ()

Additional Inherited Members
Public Attributes inherited from hpp::core::PathOptimizer
bool	enabled
size_type	iteration
boost::posix_time::ptime	timeStart
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_

Detailed Description

Recompute the transition relative to each element of the path vector

When executing a sequence of direct paths on a real robot, it is useful to know which transition of the graph each direct path corresponds to. For example, in a manipulation motion, before grasping an object, the robot needs to open the gripper. This information is contained in the transition that leads to a pregrasp waypoint state. The direct path should therefore have access to the transition.

The information is stored in the constraint set of the path and is accessible via method edge .

If the path vector is produced by a manipulation planner, each direct path has been created by a transition. However, the path may later be cut by random shortcut or due to collision and the associated transition become irrelevant. For example if a path is created by a transition that leads to a pre-grasp, and cut due to a collision, the path does not reach the target state and the relevant transition is not the one that built the path.

This class takes a path vector as input an relabel each direct path with the correct transition.

Precondition

The path should have been created by a manipulation planning algorithm: in other words, the constraint set of each direct path should be of type hpp::manipulation::ConstraintSet.

Member Typedef Documentation

PathVectorPtr_t

typedef hpp::core::PathVectorPtr_t hpp::manipulation::pathOptimization::EnforceTransitionSemantic::PathVectorPtr_t

Ptr_t

typedef shared_ptr<EnforceTransitionSemantic> hpp::manipulation::pathOptimization::EnforceTransitionSemantic::Ptr_t

Constructor & Destructor Documentation

EnforceTransitionSemantic()

hpp::manipulation::pathOptimization::EnforceTransitionSemantic::EnforceTransitionSemantic ( const ProblemConstPtr_t & problem )

inlineprotected

Constructor.

Member Function Documentation

create()

Ptr_t hpp::manipulation::pathOptimization::EnforceTransitionSemantic::create ( const core::ProblemConstPtr_t & problem )

inlinestatic

optimize()

virtual PathVectorPtr_t hpp::manipulation::pathOptimization::EnforceTransitionSemantic::optimize ( const PathVectorPtr_t & path )

virtual

Implements hpp::core::PathOptimizer.

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

• include/hpp/manipulation/path-optimization/enforce-transition-semantic.hh