19 #ifndef HPP_RBPRM_CONTACT_GENERATION_HH 20 #define HPP_RBPRM_CONTACT_GENERATION_HH 31 typedef std::queue<hpp::rbprm::State>
Q_State;
32 typedef std::pair<hpp::rbprm::State, std::vector<std::string> >
ContactState;
38 pinocchio::ConfigurationIn_t configuration,
const affMap_t& affordances,
39 const std::map<std::string, std::vector<std::string> >& affFilters,
40 const double robustnessTreshold = 0,
41 const std::size_t maxContactBreaks = 1,
42 const std::size_t maxContactCreations = 1,
43 const bool checkStabilityMaintain =
false,
44 const bool checkStabilityGenerate =
true,
45 const fcl::Vec3f& direction = fcl::Vec3f(0, 0, 1),
46 const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0),
47 const bool contactIfFails =
false,
const bool stableForOneContact =
false,
48 const core::PathConstPtr_t& comPath = core::PathConstPtr_t(),
49 const double currentPathId = 0);
62 const std::map<std::string, std::vector<std::string> >&
affFilters_;
78 const std::string& limb,
const affMap_t& affordances,
79 const std::map<std::string, std::vector<std::string> >& affFilters);
92 const std::size_t maxBrokenContacts = 1);
102 const std::size_t maxCreatedContacts,
const bool maximiseContacts =
false);
140 #endif // HPP_RBPRM_CONTACT_GENERATION_HH hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:26
Defines a parameters set for the ZMP-based heuristic.
Definition: heuristic-tools.hh:13
double(* heuristic)(const sampling::Sample &sample, const Eigen::Vector3d &direction, const Eigen::Vector3d &normal, const HeuristicParam ¶ms)
Definition: heuristic.hh:38
HPP_RBPRM_DLLAPI std::vector< std::string > freeEffectors(const State &state, Iter start, Iter end)
Definition: rbprm-state.hh:141
boost::function< double(const SampleDB &sampleDB, const sampling::Sample &sample)> evaluate
Definition: sample-db.hh:78
Definition: rbprm-state.hh:40
Definition: reports.hh:38
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11