17 #ifndef HPP_MANIPULATION_GRAPH_HELPER_HH 18 # define HPP_MANIPULATION_GRAPH_HELPER_HH 30 namespace manipulation {
41 nc.reserve (a.size() + b.size());
42 std::copy (a.begin(), a.end(), nc.begin());
43 std::copy (b.begin(), b.end(), nc.begin());
61 std::copy (
lj.begin (),
lj.end (), both.
lj.end ());
62 std::copy (other.
lj.begin (), other.
lj.end (), both.
lj.end ());
74 return lj.empty () &&
nc.empty ();
103 template <
int gCase >
105 const std::string& forwName,
const std::string& backName,
110 const bool levelSetGrasp,
const bool levelSetPlace,
115 const std::string& loopName,
164 typedef std::tuple <PlacementConstraint_t, Handles_t, std::size_t>
Object_t;
187 const std::string& graphName,
189 const std::list <ObjectDef_t>& objs,
199 #endif // HPP_MANIPULATION_GRAPH_HELPER_HH
NumericalConstraints_t nc_path
Definition: helper.hh:51
std::vector< std::string > handles_
Definition: helper.hh:91
std::vector< EdgePtr_t > Edges_t
Definition: fwd.hh:46
std::tuple< PlacementConstraint_t, Handles_t, std::size_t > Object_t
Definition: helper.hh:164
std::string name
Definition: helper.hh:181
void strictPlacementManifold(const ImplicitPtr_t placement, const ImplicitPtr_t preplacement, const ImplicitPtr_t placementComplement, FoliatedManifold &place, FoliatedManifold &preplace)
void graspManifold(const GripperPtr_t &gripper, const HandlePtr_t &handle, FoliatedManifold &grasp, FoliatedManifold &pregrasp)
EdgePtr_t createLoopEdge(const std::string &loopName, const StatePtr_t &state, const size_type &w, const bool levelSet, const FoliatedManifold &submanifoldDef=FoliatedManifold())
LockedJoints_t lj
Definition: helper.hh:50
std::vector< HandlePtr_t > Handles_t
Definition: helper.hh:157
std::tuple< ImplicitPtr_t, ImplicitPtr_t, LockedJoints_t > PlacementConstraint_t
Definition: helper.hh:156
core::value_type value_type
Definition: fwd.hh:82
NumericalConstraints_t merge_nc(const NumericalConstraints_t &a, const NumericalConstraints_t &b)
Definition: helper.hh:39
bool empty() const
Definition: helper.hh:73
std::vector< GripperPtr_t > Grippers_t
Definition: helper.hh:158
std::vector< Object_t > Objects_t
Definition: helper.hh:165
bool foliated() const
Definition: helper.hh:70
void specifyFoliation(LevelSetEdgePtr_t lse) const
shared_ptr< LevelSetEdge > LevelSetEdgePtr_t
Definition: fwd.hh:39
std::vector< Rule > Rules_t
Definition: helper.hh:96
shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:48
LockedJoints_t lj_fol
Definition: helper.hh:54
void addToEdge(EdgePtr_t comp) const
hpp::core::LockedJoints_t LockedJoints_t
Definition: fwd.hh:54
shared_ptr< Graph > GraphPtr_t
Definition: fwd.hh:35
PlacementCase
Definition: helper.hh:83
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
StringList_t handles
Definition: helper.hh:182
Rule()
Definition: helper.hh:93
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
StringList_t shapes
Definition: helper.hh:182
GraspingCase
Definition: helper.hh:78
std::list< std::string > StringList_t
Definition: fwd.hh:135
NumericalConstraints_t nc
Definition: helper.hh:49
core::size_type size_type
Definition: fwd.hh:83
shared_ptr< Edge > EdgePtr_t
Definition: fwd.hh:37
void graphBuilder(const ProblemSolverPtr_t &ps, const Objects_t &objects, const Grippers_t &grippers, GraphPtr_t graph, const Rules_t &rules=Rules_t())
FoliatedManifold merge(const FoliatedManifold &other)
Definition: helper.hh:56
void relaxedPlacementManifold(const ImplicitPtr_t placement, const ImplicitPtr_t preplacement, const LockedJoints_t objectLocks, FoliatedManifold &place, FoliatedManifold &preplace)
Edges_t createEdges(const std::string &forwName, const std::string &backName, const StatePtr_t &from, const StatePtr_t &to, const size_type &wForw, const size_type &wBack, const FoliatedManifold &grasp, const FoliatedManifold &pregrasp, const FoliatedManifold &place, const FoliatedManifold &preplace, const bool levelSetGrasp, const bool levelSetPlace, const FoliatedManifold &submanifoldDef=FoliatedManifold())
std::vector< std::string > grippers_
Definition: helper.hh:90
Definition: helper.hh:180
void addToState(StatePtr_t comp) const
NumericalConstraints_t nc_fol
Definition: helper.hh:53
Definition: problem-solver.hh:33
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:41
bool link_
Definition: helper.hh:92