hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
hpp::rbprm Namespace Reference

Namespaces

 contact
 
 interpolation
 
 projection
 
 reachability
 
 sampling
 
 stability
 

Classes

class  BezierPath
 
class  DynamicPathValidation
 
class  DynamicPlanner
 Generic implementation of RRT algorithm. More...
 
class  DynamicValidation
 
class  DynamicValidationReport
 Exception thrown when a configuration is not within the bounds. More...
 
class  OrientedPathOptimizer
 
class  ParabolaPath
 
class  ParabolaPlanner
 Generic implementation of RRT algorithm. More...
 
class  RandomShortcutDynamic
 
class  RbPrmFullBody
 
class  RbPrmLimb
 
class  RbPrmPathValidation
 
class  RbPrmRomValidation
 
class  RbPrmShooter
 
class  RbPrmValidation
 
struct  State
 
class  SteeringMethodKinodynamic
 
class  SteeringMethodParabola
 
class  TimedParabolaPath
 
struct  TrianglePoints
 

Typedefs

typedef std::shared_ptr< RbPrmFullBodyRbPrmFullBodyPtr_t
 
typedef std::shared_ptr< DynamicPathValidationDynamicPathValidationPtr_t
 
typedef std::shared_ptr< DynamicValidationDynamicValidationPtr_t
 
typedef std::vector< pinocchio::vector_t, Eigen::aligned_allocator< pinocchio::vector_t > > T_Configuration
 
typedef T_Configuration::const_iterator CIT_Configuration
 
typedef ndcurves::bezier_curve< double, double, true, Eigen::Vector3d > bezier_t
 
typedef std::shared_ptr< bezier_tbezier_Ptr
 
typedef std::shared_ptr< BezierPathBezierPathPtr_t
 
typedef std::shared_ptr< const BezierPathBezierPathConstPtr_t
 
typedef std::shared_ptr< DynamicPlannerDynamicPlannerPtr_t
 
typedef std::shared_ptr< OrientedPathOptimizerOrientedPathOptimizerPtr_t
 
typedef std::shared_ptr< ParabolaPathParabolaPathPtr_t
 
typedef std::shared_ptr< ParabolaPlannerParabolaPlannerPtr_t
 
typedef boost::tuple< core::NodePtr_t, core::ConfigurationPtr_t, core::PathPtr_t > DelayedEdge_t
 
typedef std::vector< DelayedEdge_tDelayedEdges_t
 
typedef std::shared_ptr< RandomShortcutDynamicRandomShortcutDynamicPtr_t
 
typedef std::shared_ptr< SteeringMethodKinodynamicSteeringMethodKinodynamicPtr_t
 
typedef std::shared_ptr< SteeringMethodParabolaSteeringMethodParabolaPtr_t
 
typedef std::shared_ptr< TimedParabolaPathTimedParabolaPathPtr_t
 
typedef hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
 
typedef std::map< std::string, std::vector< bezier_Ptr > > EffectorTrajectoriesMap_t
 
typedef std::shared_ptr< RbPrmLimbRbPrmLimbPtr_t
 
typedef std::map< std::string, const rbprm::RbPrmLimbPtr_tT_Limb
 
typedef T_Limb::const_iterator CIT_Limb
 
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic > MatrixXX
 
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 3 > MatrixX3
 
typedef Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > VectorX
 
typedef Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
 
typedef std::shared_ptr< RbPrmPathValidationRbPrmPathValidationPtr_t
 
typedef std::shared_ptr< RbPrmRomValidationRbPrmRomValidationPtr_t
 
typedef std::shared_ptr< RbPrmShooterRbPrmShooterPtr_t
 
typedef std::vector< StateT_State
 
typedef T_State::const_iterator CIT_State
 
typedef std::pair< pinocchio::value_type, rbprm::StateStateFrame
 
typedef std::vector< StateFrameT_StateFrame
 
typedef T_StateFrame::const_iterator CIT_StateFrame
 
typedef std::shared_ptr< RbPrmValidationRbPrmValidationPtr_t
 
typedef std::map< std::string, RbPrmRomValidationPtr_tT_RomValidation
 

Enumerations

enum  ContactType { _6_DOF = 0, _3_DOF = 1, _UNDEFINED }
 

Functions

 HPP_PREDEF_CLASS (RbPrmFullBody)
 
 HPP_PREDEF_CLASS (DynamicPathValidation)
 
 HPP_PREDEF_CLASS (DynamicValidation)
 
 HPP_PREDEF_CLASS (BezierPath)
 
 HPP_PREDEF_CLASS (DynamicPlanner)
 
 HPP_PREDEF_CLASS (OrientedPathOptimizer)
 
 HPP_PREDEF_CLASS (ParabolaPath)
 
 HPP_PREDEF_CLASS (ParabolaPlanner)
 
 HPP_PREDEF_CLASS (RandomShortcutDynamic)
 
 HPP_PREDEF_CLASS (SteeringMethodKinodynamic)
 
 HPP_PREDEF_CLASS (SteeringMethodParabola)
 
 HPP_PREDEF_CLASS (TimedParabolaPath)
 
 HPP_PREDEF_CLASS (RbPrmLimb)
 
HPP_RBPRM_DLLAPI bool saveLimbInfoAndDatabase (const RbPrmLimbPtr_t limb, std::ofstream &dbFile)
 
 HPP_PREDEF_CLASS (RbPrmPathValidation)
 
 HPP_PREDEF_CLASS (RbPrmShooter)
 
HPP_RBPRM_DLLAPI pinocchio::value_type effectorDistance (const State &from, const State &to)
 
template<typename Iter >
HPP_RBPRM_DLLAPI std::vector< std::string > freeEffectors (const State &state, Iter start, Iter end)
 

Typedef Documentation

◆ affMap_t

typedef hpp::core::Container< hpp::core::AffordanceObjects_t > hpp::rbprm::affMap_t

◆ bezier_Ptr

typedef std::shared_ptr<bezier_t> hpp::rbprm::bezier_Ptr

◆ bezier_t

typedef ndcurves::bezier_curve<double, double, true, Eigen::Vector3d> hpp::rbprm::bezier_t

◆ BezierPathConstPtr_t

typedef std::shared_ptr<const BezierPath> hpp::rbprm::BezierPathConstPtr_t

◆ BezierPathPtr_t

typedef std::shared_ptr<BezierPath> hpp::rbprm::BezierPathPtr_t

◆ CIT_Configuration

typedef T_Configuration::const_iterator hpp::rbprm::CIT_Configuration

◆ CIT_Limb

typedef T_Limb::const_iterator hpp::rbprm::CIT_Limb

◆ CIT_State

typedef T_State::const_iterator hpp::rbprm::CIT_State

◆ CIT_StateFrame

typedef T_StateFrame::const_iterator hpp::rbprm::CIT_StateFrame

◆ DynamicPathValidationPtr_t

◆ DynamicValidationPtr_t

◆ EffectorTrajectoriesMap_t

typedef std::map<std::string, std::vector<bezier_Ptr> > hpp::rbprm::EffectorTrajectoriesMap_t

◆ MatrixX3

typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 3> hpp::rbprm::MatrixX3

◆ MatrixXX

typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, Eigen::Dynamic> hpp::rbprm::MatrixXX

◆ ParabolaPathPtr_t

typedef std::shared_ptr<ParabolaPath> hpp::rbprm::ParabolaPathPtr_t

◆ RbPrmFullBodyPtr_t

typedef std::shared_ptr< RbPrmFullBody > hpp::rbprm::RbPrmFullBodyPtr_t

◆ RbPrmLimbPtr_t

typedef std::shared_ptr<RbPrmLimb> hpp::rbprm::RbPrmLimbPtr_t

◆ RbPrmPathValidationPtr_t

◆ RbPrmRomValidationPtr_t

◆ RbPrmShooterPtr_t

typedef std::shared_ptr<RbPrmShooter> hpp::rbprm::RbPrmShooterPtr_t

◆ RbPrmValidationPtr_t

◆ StateFrame

typedef std::pair<pinocchio::value_type, rbprm::State> hpp::rbprm::StateFrame

◆ SteeringMethodKinodynamicPtr_t

◆ T_Configuration

typedef std::vector<pinocchio::vector_t, Eigen::aligned_allocator<pinocchio::vector_t> > hpp::rbprm::T_Configuration

◆ T_Limb

typedef std::map<std::string, const rbprm::RbPrmLimbPtr_t> hpp::rbprm::T_Limb

◆ T_RomValidation

typedef std::map<std::string, RbPrmRomValidationPtr_t> hpp::rbprm::T_RomValidation

◆ T_State

typedef std::vector<State> hpp::rbprm::T_State

◆ T_StateFrame

typedef std::vector<StateFrame> hpp::rbprm::T_StateFrame

◆ TimedParabolaPathPtr_t

◆ Vector3

typedef Eigen::Matrix<pinocchio::value_type, 3, 1> hpp::rbprm::Vector3

◆ VectorX

typedef Eigen::Matrix<pinocchio::value_type, Eigen::Dynamic, 1> hpp::rbprm::VectorX

Enumeration Type Documentation

◆ ContactType

Enumerator
_6_DOF 
_3_DOF 
_UNDEFINED 

Function Documentation

◆ effectorDistance()

HPP_RBPRM_DLLAPI pinocchio::value_type hpp::rbprm::effectorDistance ( const State from,
const State to 
)

Given two State, compute the contact effectors distance travelled between two states

◆ freeEffectors()

template<typename Iter >
HPP_RBPRM_DLLAPI std::vector<std::string> hpp::rbprm::freeEffectors ( const State state,
Iter  start,
Iter  end 
)

Given a State and a list of effectors, computes the list of all the effectors that moved between the two States (ie contact was not maintained)

Returns
the list of all modified effectors between two States

◆ HPP_PREDEF_CLASS() [1/10]

hpp::rbprm::HPP_PREDEF_CLASS ( RbPrmFullBody  )

◆ HPP_PREDEF_CLASS() [2/10]

hpp::rbprm::HPP_PREDEF_CLASS ( DynamicPathValidation  )

◆ HPP_PREDEF_CLASS() [3/10]

hpp::rbprm::HPP_PREDEF_CLASS ( TimedParabolaPath  )

◆ HPP_PREDEF_CLASS() [4/10]

hpp::rbprm::HPP_PREDEF_CLASS ( RbPrmPathValidation  )

◆ HPP_PREDEF_CLASS() [5/10]

hpp::rbprm::HPP_PREDEF_CLASS ( ParabolaPath  )

◆ HPP_PREDEF_CLASS() [6/10]

hpp::rbprm::HPP_PREDEF_CLASS ( BezierPath  )

◆ HPP_PREDEF_CLASS() [7/10]

hpp::rbprm::HPP_PREDEF_CLASS ( SteeringMethodKinodynamic  )

◆ HPP_PREDEF_CLASS() [8/10]

hpp::rbprm::HPP_PREDEF_CLASS ( RbPrmShooter  )

◆ HPP_PREDEF_CLASS() [9/10]

hpp::rbprm::HPP_PREDEF_CLASS ( RbPrmLimb  )

◆ HPP_PREDEF_CLASS() [10/10]

hpp::rbprm::HPP_PREDEF_CLASS ( DynamicValidation  )

◆ saveLimbInfoAndDatabase()

HPP_RBPRM_DLLAPI bool hpp::rbprm::saveLimbInfoAndDatabase ( const RbPrmLimbPtr_t  limb,
std::ofstream &  dbFile 
)