17 #ifndef HPP_RBPRM_SHOOTER_HH 18 #define HPP_RBPRM_SHOOTER_HH 23 #include <hpp/core/problem-solver.hh> 24 #include <hpp/pinocchio/joint.hh> 26 #include <hpp/core/configuration-shooter.hh> 38 typedef hpp::core::Container<hpp::core::AffordanceObjects_t>
affMap_t;
64 const core::ObjectStdVector_t& geometries,
65 const affMap_t& affordances,
66 const std::vector<std::string>& filter = std::vector<std::string>(),
67 const std::map<std::string, std::vector<std::string> >& affFilters =
68 std::map<std::string, std::vector<std::string> >(),
69 const std::size_t shootLimit = 10000,
70 const std::size_t displacementLimit = 100);
78 void BoundSO3(
const std::vector<double>& limitszyx);
80 void sampleExtraDOF(
bool sampleExtraDOF);
95 const affMap_t& affordances,
const std::vector<std::string>& filter,
96 const std::map<std::string, std::vector<std::string> >& affFilters,
97 const std::size_t shootLimit = 10000,
const std::size_t displacementLimit = 100);
99 void init(
const RbPrmShooterPtr_t&
self);
101 virtual void impl_shoot(core::Configuration_t& q)
const;
104 void InitWeightedTriangles(
const core::ObjectStdVector_t& geometries);
105 const T_TriangleNormal& RandomPointIntriangle()
const;
106 const T_TriangleNormal& WeightedTriangle()
const;
108 core::Configuration_t& config,
const fcl::Vec3f p)
const;
111 std::vector<double> weights_;
112 std::vector<T_TriangleNormal> triangles_;
115 core::configurationShooter::UniformPtr_t uniformShooter_;
116 double ratioWeighted_;
117 RbPrmShooterWkPtr_t weak_;
119 std::vector<double> eulerSo3_;
124 #endif // HPP_RBPRM_SHOOTER_HH
fcl::Vec3f p2
Definition: rbprm-shooter.hh:34
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
std::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
fcl::Vec3f p3
Definition: rbprm-shooter.hh:34
Definition: algorithm.hh:27
const std::size_t shootLimit_
Definition: rbprm-shooter.hh:88
const std::vector< std::string > filter_
Definition: rbprm-shooter.hh:90
void ratioWeighted(double ratio)
Definition: rbprm-shooter.hh:82
HPP_PREDEF_CLASS(RbPrmFullBody)
Definition: rbprm-shooter.hh:33
std::shared_ptr< RbPrmValidation > RbPrmValidationPtr_t
Definition: rbprm-validation.hh:34
Definition: rbprm-shooter.hh:43
std::pair< fcl::Vec3f, TrianglePoints > T_TriangleNormal
Definition: rbprm-shooter.hh:85
fcl::Vec3f p1
Definition: rbprm-shooter.hh:34
std::shared_ptr< RbPrmShooter > RbPrmShooterPtr_t
Definition: rbprm-shooter.hh:37
const std::size_t displacementLimit_
Definition: rbprm-shooter.hh:89