hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
projection.hh
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18 
19 #ifndef HPP_RBPRM_PROJECTION_HH
20 #define HPP_RBPRM_PROJECTION_HH
21 
23 #include <hpp/rbprm/rbprm-state.hh>
24 #include <hpp/rbprm/reports.hh>
25 
26 namespace hpp {
27 namespace rbprm {
28 namespace projection {
29 
37  hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f& target,
38  const hpp::rbprm::State& currentState);
39 
45  hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f& target,
46  const hpp::rbprm::State& currentState);
47 
53  hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f& target,
54  const hpp::rbprm::State& currentState);
55 
65  const pinocchio::ConfigurationIn_t conf,
66  const hpp::rbprm::State& currentState,
67  const Vector3 offset = Vector3::Zero());
68 
74  const core::CollisionValidationPtr_t& validation, const std::string& limb,
75  const hpp::rbprm::State& currentState);
76 
78  const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId,
79  const hpp::rbprm::RbPrmLimbPtr_t& limb, const hpp::rbprm::State& current,
80  const fcl::Vec3f& normal, const fcl::Vec3f& position,
81  bool lockOtherJoints = false,
82  const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
83 
85  const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId,
86  const hpp::rbprm::RbPrmLimbPtr_t& limb, const hpp::rbprm::State& current,
87  const fcl::Vec3f& normal, const fcl::Vec3f& position,
88  core::CollisionValidationPtr_t validation, bool lockOtherJoints = false,
89  const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
90 
92  const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId,
93  const hpp::rbprm::RbPrmLimbPtr_t& limb,
94  const sampling::OctreeReport& report,
95  core::CollisionValidationPtr_t validation,
96  pinocchio::ConfigurationOut_t configuration,
97  const hpp::rbprm::State& current);
98 
100  core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t& body,
101  const std::string& limbId, const hpp::rbprm::RbPrmLimbPtr_t& limb,
102  core::CollisionValidationPtr_t validation,
103  pinocchio::ConfigurationOut_t configuration,
104  const fcl::Matrix3f& rotationTarget, std::vector<bool> rotationFilter,
105  const fcl::Vec3f& positionTarget, const fcl::Vec3f& normal,
106  const hpp::rbprm::State& current);
107 
108 fcl::Transform3f HPP_RBPRM_DLLAPI
110  const hpp::rbprm::RbPrmLimbPtr_t& limb,
111  const pinocchio::ConfigurationIn_t configuration,
112  const fcl::Vec3f& normal, const fcl::Vec3f& position,
113  const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
114 
115 } // namespace projection
116 } // namespace rbprm
117 } // namespace hpp
118 #endif // HPP_RBPRM_PROJECTION_HH
ProjectionReport HPP_RBPRM_DLLAPI projectToComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:49
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:26
shared_ptr< RbPrmLimb > RbPrmLimbPtr_t
Definition: rbprm-limb.hh:41
ProjectionReport HPP_RBPRM_DLLAPI projectEffector(core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const fcl::Matrix3f &rotationTarget, std::vector< bool > rotationFilter, const fcl::Vec3f &positionTarget, const fcl::Vec3f &normal, const hpp::rbprm::State &current)
ProjectionReport HPP_RBPRM_DLLAPI projectToColFreeComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
ProjectionReport HPP_RBPRM_DLLAPI projectSampleToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const sampling::OctreeReport &report, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const hpp::rbprm::State &current)
fcl::Transform3f HPP_RBPRM_DLLAPI computeProjectionMatrix(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const hpp::rbprm::RbPrmLimbPtr_t &limb, const pinocchio::ConfigurationIn_t configuration, const fcl::Vec3f &normal, const fcl::Vec3f &position, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
ProjectionReport HPP_RBPRM_DLLAPI projectToRootPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
Definition: sample-db.hh:38
ProjectionReport HPP_RBPRM_DLLAPI setCollisionFree(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State &currentState)
Definition: rbprm-state.hh:40
ProjectionReport HPP_RBPRM_DLLAPI projectToRootConfiguration(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State &currentState, const Vector3 offset=Vector3::Zero())
ProjectionReport HPP_RBPRM_DLLAPI projectStateToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State &current, const fcl::Vec3f &normal, const fcl::Vec3f &position, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11