hpp-rbprm  4.11.0
Implementation of RB-PRM planner using hpp.
hpp::rbprm::sampling::HeuristicParam Struct Reference

Defines a parameters set for the ZMP-based heuristic. More...

#include <hpp/rbprm/sampling/heuristic-tools.hh>

Public Member Functions

 HeuristicParam ()
 
 HeuristicParam (const std::map< std::string, fcl::Vec3f > &cp, const fcl::Vec3f &comPos, const fcl::Vec3f &comSp, const fcl::Vec3f &comAcc, const std::string &sln, const fcl::Transform3f &tf)
 
 HeuristicParam (const HeuristicParam &zhp)
 
HeuristicParamoperator= (const HeuristicParam &zhp)
 

Public Attributes

std::map< std::string, fcl::Vec3f > contactPositions_
 
fcl::Vec3f comPosition_
 
fcl::Vec3f comSpeed_
 
fcl::Vec3f comAcceleration_
 
std::string sampleLimbName_
 
fcl::Transform3f tfWorldRoot_
 
core::PathConstPtr_t comPath_
 
double currentPathId_
 
fcl::Vec3f limbReferenceOffset_
 

Detailed Description

Defines a parameters set for the ZMP-based heuristic.

Constructor & Destructor Documentation

◆ HeuristicParam() [1/3]

hpp::rbprm::sampling::HeuristicParam::HeuristicParam ( )
inline

◆ HeuristicParam() [2/3]

hpp::rbprm::sampling::HeuristicParam::HeuristicParam ( const std::map< std::string, fcl::Vec3f > &  cp,
const fcl::Vec3f &  comPos,
const fcl::Vec3f &  comSp,
const fcl::Vec3f &  comAcc,
const std::string &  sln,
const fcl::Transform3f &  tf 
)

◆ HeuristicParam() [3/3]

hpp::rbprm::sampling::HeuristicParam::HeuristicParam ( const HeuristicParam zhp)

Member Function Documentation

◆ operator=()

HeuristicParam& hpp::rbprm::sampling::HeuristicParam::operator= ( const HeuristicParam zhp)

Member Data Documentation

◆ comAcceleration_

fcl::Vec3f hpp::rbprm::sampling::HeuristicParam::comAcceleration_

◆ comPath_

core::PathConstPtr_t hpp::rbprm::sampling::HeuristicParam::comPath_

◆ comPosition_

fcl::Vec3f hpp::rbprm::sampling::HeuristicParam::comPosition_

◆ comSpeed_

fcl::Vec3f hpp::rbprm::sampling::HeuristicParam::comSpeed_

◆ contactPositions_

std::map<std::string, fcl::Vec3f> hpp::rbprm::sampling::HeuristicParam::contactPositions_

◆ currentPathId_

double hpp::rbprm::sampling::HeuristicParam::currentPathId_

◆ limbReferenceOffset_

fcl::Vec3f hpp::rbprm::sampling::HeuristicParam::limbReferenceOffset_

◆ sampleLimbName_

std::string hpp::rbprm::sampling::HeuristicParam::sampleLimbName_

◆ tfWorldRoot_

fcl::Transform3f hpp::rbprm::sampling::HeuristicParam::tfWorldRoot_

The documentation for this struct was generated from the following file: