hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
com-rrt.hh File Reference
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Classes

struct  hpp::rbprm::interpolation::SetComRRTConstraints
 

Namespaces

 hpp
 
 hpp::rbprm
 
 hpp::rbprm::interpolation
 

Typedefs

typedef TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > hpp::rbprm::interpolation::ComRRTHelper
 

Functions

core::PathPtr_t hpp::rbprm::interpolation::comRRT (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
 
core::PathPtr_t hpp::rbprm::interpolation::comRRT (RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
 
core::PathPtr_t hpp::rbprm::interpolation::comRRTFromPath (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
 
core::Configuration_t hpp::rbprm::interpolation::projectOnCom (RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)