#include <hpp/manipulation/problem-solver.hh>
Public Types | |
typedef core::ProblemSolver | parent_t |
typedef std::vector< std::string > | Names_t |
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typedef std::map< std::string, LockedJointPtr_t > | ElementMap_t |
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typedef std::map< std::string, TriangleList > | ElementMap_t |
Public Member Functions | |
virtual | ~ProblemSolver () |
Destructor. More... | |
ProblemSolver () | |
virtual void | robot (const DevicePtr_t &robot) |
Set robot Check that robot is of type hpp::manipulation::Device. More... | |
const DevicePtr_t & | robot () const |
Get robot. More... | |
void | addGrasp (const DifferentiableFunctionPtr_t &constraint, const model::GripperPtr_t &gripper, const HandlePtr_t &handle) |
Add grasp. More... | |
GraspsMap_t & | grasps () |
get grapsMap More... | |
GraspPtr_t | grasp (const DifferentiableFunctionPtr_t &constraint) const |
get graps by name More... | |
virtual void | resetConstraints () |
Reset constraint set and put back the disable collisions between gripper and handle. More... | |
virtual void | addFunctionToConfigProjector (const std::string &constraintName, const std::string &functionName) |
Add differential function to the config projector. More... | |
virtual void | resetProblem () |
Create a new problem. More... | |
virtual void | resetRoadmap () |
Create a new Roadmap. More... | |
ProblemPtr_t | problem () const |
Get pointer to problem. More... | |
template<typename Element > | |
const Element & | get (const std::string &name) const |
Get an element of a container. More... | |
template<typename Element > | |
void | add (const std::string &name, const Element &element) |
Add an element to a container. More... | |
template<typename Element > | |
const Container< Element >::ElementMap_t & | getAll () const |
Get the underlying map of a container. More... | |
Constraint graph | |
void | constraintGraph (const graph::GraphPtr_t &graph) |
Set the constraint graph. More... | |
graph::GraphPtr_t | constraintGraph () const |
Get the constraint graph. More... | |
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void | add (const std::string &name, const LockedJointPtr_t &element) |
Add an element. More... | |
const LockedJointPtr_t & | get (const std::string &name) const |
Return the element named name. More... | |
ReturnType | getAllAs () const |
Return a list of all elements. More... | |
const ElementMap_t & | getAll () const |
Return the underlying map. More... | |
std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
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void | add (const std::string &name, const TriangleList &element) |
Add an element. More... | |
const TriangleList & | get (const std::string &name) const |
Return the element named name. More... | |
ReturnType | getAllAs () const |
Return a list of all elements. More... | |
const ElementMap_t & | getAll () const |
Return the underlying map. More... | |
std::ostream & | print (std::ostream &os) const |
Print object in a stream. More... | |
Protected Member Functions | |
void | initializeProblem (ProblemPtr_t problem) |
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Container () | |
Constructor. More... | |
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Container () | |
Constructor. More... | |
typedef std::vector<std::string> hpp::manipulation::ProblemSolver::Names_t |
typedef core::ProblemSolver hpp::manipulation::ProblemSolver::parent_t |
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inlinevirtual |
Destructor.
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inline |
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inline |
Add an element to a container.
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virtual |
Add differential function to the config projector.
constraintName | Name given to config projector if created by this method. |
functionName | name 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. |
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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.
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inline |
Get an element of a container.
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inline |
Get the underlying map of a container.
GraspPtr_t hpp::manipulation::ProblemSolver::grasp | ( | const DifferentiableFunctionPtr_t & | constraint | ) | const |
get graps by name
return NULL if no grasp named graspName
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inline |
get grapsMap
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protected |
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inline |
Get pointer to problem.
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virtual |
Reset constraint set and put back the disable collisions between gripper and handle.
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virtual |
Create a new problem.
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virtual |
Create a new Roadmap.
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inlinevirtual |
Set robot Check that robot is of type hpp::manipulation::Device.
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inline |
Get robot.