hpp::manipulation::ProblemSolver Class Reference

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

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

Public Types

typedef core::ProblemSolver parent_t
 
typedef std::vector< std::string > Names_t
 
- Public Types inherited from hpp::manipulation::Container< LockedJointPtr_t >
typedef std::map< std::string, LockedJointPtr_tElementMap_t
 
- Public Types inherited from hpp::manipulation::Container< TriangleList >
typedef std::map< std::string, TriangleListElementMap_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_trobot () const
 Get robot. More...
 
void addGrasp (const DifferentiableFunctionPtr_t &constraint, const model::GripperPtr_t &gripper, const HandlePtr_t &handle)
 Add grasp. More...
 
GraspsMap_tgrasps ()
 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_tgetAll () 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...
 
- Public Member Functions inherited from hpp::manipulation::Container< LockedJointPtr_t >
void add (const std::string &name, const LockedJointPtr_t &element)
 Add an element. More...
 
const LockedJointPtr_tget (const std::string &name) const
 Return the element named name. More...
 
ReturnType getAllAs () const
 Return a list of all elements. More...
 
const ElementMap_tgetAll () const
 Return the underlying map. More...
 
std::ostream & print (std::ostream &os) const
 Print object in a stream. More...
 
- Public Member Functions inherited from hpp::manipulation::Container< TriangleList >
void add (const std::string &name, const TriangleList &element)
 Add an element. More...
 
const TriangleListget (const std::string &name) const
 Return the element named name. More...
 
ReturnType getAllAs () const
 Return a list of all elements. More...
 
const ElementMap_tgetAll () 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)
 
- Protected Member Functions inherited from hpp::manipulation::Container< LockedJointPtr_t >
 Container ()
 Constructor. More...
 
- Protected Member Functions inherited from hpp::manipulation::Container< TriangleList >
 Container ()
 Constructor. More...
 

Member Typedef Documentation

◆ Names_t

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

◆ parent_t

typedef core::ProblemSolver hpp::manipulation::ProblemSolver::parent_t

Constructor & Destructor Documentation

◆ ~ProblemSolver()

virtual hpp::manipulation::ProblemSolver::~ProblemSolver ( )
inlinevirtual

Destructor.

◆ ProblemSolver()

hpp::manipulation::ProblemSolver::ProblemSolver ( )
inline

Member Function Documentation

◆ add()

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

Add an element to a container.

◆ addFunctionToConfigProjector()

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.

◆ addGrasp()

void hpp::manipulation::ProblemSolver::addGrasp ( const DifferentiableFunctionPtr_t constraint,
const model::GripperPtr_t &  gripper,
const HandlePtr_t handle 
)
inline

Add grasp.

◆ constraintGraph() [1/2]

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

Set the constraint graph.

◆ constraintGraph() [2/2]

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

Get the constraint graph.

◆ get()

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

Get an element of a container.

◆ getAll()

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

Get the underlying map of a container.

◆ grasp()

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

get graps by name

return NULL if no grasp named graspName

◆ grasps()

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

get grapsMap

◆ initializeProblem()

void hpp::manipulation::ProblemSolver::initializeProblem ( ProblemPtr_t  problem)
protected

◆ problem()

ProblemPtr_t hpp::manipulation::ProblemSolver::problem ( ) const
inline

Get pointer to problem.

◆ resetConstraints()

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

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

◆ resetProblem()

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

Create a new problem.

◆ resetRoadmap()

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

Create a new Roadmap.

◆ robot() [1/2]

virtual void hpp::manipulation::ProblemSolver::robot ( const DevicePtr_t robot)
inlinevirtual

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

◆ robot() [2/2]

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

Get robot.