hpp-rbprm
4.12.0
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/interpolation/time-constraint-helper.hh>
Public Member Functions | |
TimeConstraintHelper (RbPrmFullBodyPtr_t fullbody, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, core::ProblemPtr_t referenceProblem, core::PathPtr_t refPath, const pinocchio::value_type error_treshold=1e-3) | |
~TimeConstraintHelper () | |
void | SetConstraints (const State &from, const State &to) |
void | SetConfigShooter (const State &from, const State &to) |
void | InitConstraints () |
void | SetContactConstraints (const State &from, const State &to) |
core::PathVectorPtr_t | Run (const State &from, const State &to, const size_t maxIterations=0) |
Public Attributes | |
RbPrmFullBodyPtr_t | fullbody_ |
core::DevicePtr_t | fullBodyDevice_ |
core::ProblemPtr_t | rootProblem_ |
core::PathPlannerPtr_t | planner_ |
core::PathPtr_t | refPath_ |
core::ConfigProjectorPtr_t | proj_ |
std::shared_ptr< TimeConstraintSteering< Path_T > > | steeringMethod_ |
const ShooterFactory_T & | shooterFactory_ |
const ConstraintFactory_T & | constraintFactory_ |
Helper struct for applying creating planning problems with time dependant constraints in rbprm. Maintains a pointer to a RbPrmFullbody object, and creates a new instance of a problem for a clone of the associated Device.
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inline |
fullbody | robot considered for applying a planner. The associated Device will be cloned to avoid side effects during the planning, An extra DOF is added to the cloned device, as required by the algorithm. |
referenceProblem | an internal problem will be created, using this parameter as a reference, for retrieving collision obstacles |
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inline |
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::InitConstraints | ( | ) |
core::PathVectorPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::Run | ( | const State & | from, |
const State & | to, | ||
const size_t | maxIterations = 0 |
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) |
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::SetConfigShooter | ( | const State & | from, |
const State & | to | ||
) |
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inline |
void hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::SetContactConstraints | ( | const State & | from, |
const State & | to | ||
) |
const ConstraintFactory_T& hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::constraintFactory_ |
RbPrmFullBodyPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::fullbody_ |
core::DevicePtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::fullBodyDevice_ |
core::PathPlannerPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::planner_ |
core::ConfigProjectorPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::proj_ |
core::PathPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::refPath_ |
core::ProblemPtr_t hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::rootProblem_ |
const ShooterFactory_T& hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::shooterFactory_ |
std::shared_ptr<TimeConstraintSteering<Path_T> > hpp::rbprm::interpolation::TimeConstraintHelper< Path_T, ShooterFactory_T, ConstraintFactory_T >::steeringMethod_ |