hpp-rbprm  4.12.0
Implementation of RB-PRM planner using hpp.
projection.hh File Reference
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Namespaces

 hpp
 
 hpp::rbprm
 
 hpp::rbprm::projection
 

Functions

ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToRootPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToComPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::projectToColFreeComPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::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 hpp::rbprm::projection::setCollisionFree (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State &currentState)
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::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())
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::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, core::CollisionValidationPtr_t validation, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::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)
 
ProjectionReport HPP_RBPRM_DLLAPI hpp::rbprm::projection::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)
 
fcl::Transform3f HPP_RBPRM_DLLAPI hpp::rbprm::projection::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())