hpp::manipulation::ProblemSolver Class Reference

#include <hpp/manipulation/problem-solver.hh>

Inheritance diagram for hpp::manipulation::ProblemSolver:
Collaboration diagram for hpp::manipulation::ProblemSolver:

List of all members.

Public Types

typedef core::ProblemSolver parent_t
typedef std::vector< std::string > Names_t

Public Member Functions

virtual ~ProblemSolver ()
 Destructor.
 ProblemSolver ()
virtual void robot (const DevicePtr_t &robot)
 Set robot Check that robot is of type hpp::manipulation::Device.
const DevicePtr_trobot () const
 Get robot.
void addGrasp (const DifferentiableFunctionPtr_t &constraint, const model::GripperPtr_t &gripper, const HandlePtr_t &handle)
 Add grasp.
GraspsMap_tgrasps ()
 get grapsMap
GraspPtr_t grasp (const DifferentiableFunctionPtr_t &constraint) const
 get graps by name
virtual void resetConstraints ()
 Reset constraint set and put back the disable collisions between gripper and handle.
virtual void addFunctionToConfigProjector (const std::string &constraintName, const std::string &functionName)
 Add differential function to the config projector.
virtual void resetProblem ()
 Create a new problem.
virtual void resetRoadmap ()
 Create a new Roadmap.
ProblemPtr_t problem () const
 Get pointer to problem.
template<typename Element >
const Element & get (const std::string &name) const
 Get an element of a container.
template<typename Element >
void add (const std::string &name, const Element &element)
 Add an element to a container.
template<typename Element >
const Container< Element >
::ElementMap_t
getAll () const
 Get the underlying map of a container.
Constraint graph
void constraintGraph (const graph::GraphPtr_t &graph)
 Set the constraint graph.
graph::GraphPtr_t constraintGraph () const
 Get the constraint graph.

Protected Member Functions

void initializeProblem (ProblemPtr_t problem)

Member Typedef Documentation

typedef std::vector<std::string> hpp::manipulation::ProblemSolver::Names_t
typedef core::ProblemSolver hpp::manipulation::ProblemSolver::parent_t

Constructor & Destructor Documentation

virtual hpp::manipulation::ProblemSolver::~ProblemSolver ( ) [inline, virtual]

Destructor.

hpp::manipulation::ProblemSolver::ProblemSolver ( ) [inline]

Member Function Documentation

template<typename Element >
void hpp::manipulation::ProblemSolver::add ( const std::string &  name,
const Element &  element 
) [inline]

Add an element to a container.

virtual void hpp::manipulation::ProblemSolver::addFunctionToConfigProjector ( const std::string &  constraintName,
const std::string &  functionName 
) [virtual]

Add differential function to the config projector.

Parameters:
constraintNameName given to config projector if created by this method.
functionNamename of the function as stored in internal map. Build the config projector if not yet constructed. If constraint is a graps, deactivate collision between gripper and object.
void hpp::manipulation::ProblemSolver::addGrasp ( const DifferentiableFunctionPtr_t constraint,
const model::GripperPtr_t &  gripper,
const HandlePtr_t handle 
) [inline]

Add grasp.

void hpp::manipulation::ProblemSolver::constraintGraph ( const graph::GraphPtr_t graph)

Set the constraint graph.

graph::GraphPtr_t hpp::manipulation::ProblemSolver::constraintGraph ( ) const

Get the constraint graph.

template<typename Element >
const Element& hpp::manipulation::ProblemSolver::get ( const std::string &  name) const [inline]

Get an element of a container.

Reimplemented from hpp::manipulation::Container< LockedJointPtr_t >.

template<typename Element >
const Container<Element>::ElementMap_t& hpp::manipulation::ProblemSolver::getAll ( ) const [inline]

Get the underlying map of a container.

Reimplemented from hpp::manipulation::Container< LockedJointPtr_t >.

GraspPtr_t hpp::manipulation::ProblemSolver::grasp ( const DifferentiableFunctionPtr_t constraint) const

get graps by name

return NULL if no grasp named graspName

GraspsMap_t& hpp::manipulation::ProblemSolver::grasps ( ) [inline]

get grapsMap

void hpp::manipulation::ProblemSolver::initializeProblem ( ProblemPtr_t  problem) [protected]
ProblemPtr_t hpp::manipulation::ProblemSolver::problem ( ) const [inline]

Get pointer to problem.

virtual void hpp::manipulation::ProblemSolver::resetConstraints ( ) [virtual]

Reset constraint set and put back the disable collisions between gripper and handle.

virtual void hpp::manipulation::ProblemSolver::resetProblem ( ) [virtual]

Create a new problem.

virtual void hpp::manipulation::ProblemSolver::resetRoadmap ( ) [virtual]

Create a new Roadmap.

virtual void hpp::manipulation::ProblemSolver::robot ( const DevicePtr_t robot) [inline, virtual]

Set robot Check that robot is of type hpp::manipulation::Device.

const DevicePtr_t& hpp::manipulation::ProblemSolver::robot ( ) const [inline]

Get robot.