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core::PathPtr_t | hpp::rbprm::interpolation::effectorRRT (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) |
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core::PathPtr_t | hpp::rbprm::interpolation::effectorRRT (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, const std::vector< std::string > &constrainedJointPos=std::vector< std::string >(), const std::vector< std::string > &constrainedLockedJoints=std::vector< std::string >()) |
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core::PathPtr_t | hpp::rbprm::interpolation::generateEndEffectorBezier (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState) |
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PathPtr_t | hpp::rbprm::interpolation::effectorRRTFromPath (RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t fullBodyComPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof, const PathPtr_t refPath, const std::vector< std::string > &constrainedJointPos, const std::vector< std::string > &constrainedLockedJoints) |
| effectorRRTFromPath Call comRRT to compute a whole body path between two states, then compute an end-effector's trajectory with a bezier curve that fit the initial path found by the rrt, and recompute the whole body trajectory that follow the end effector constraint More...
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core::PathPtr_t | hpp::rbprm::interpolation::effectorRRTFromPath (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, const PathPtr_t refFullBodyPath, const std::vector< std::string > &constrainedJointPos=std::vector< std::string >(), const std::vector< std::string > &constrainedLockedJoints=std::vector< std::string >()) |
| effectorRRTFromPath Call comRRT to compute a whole body path between two states, then compute an end-effector's trajectory with a bezier curve that fit the initial path found by the rrt, and recompute the whole body trajectory that follow the end effector constraint More...
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std::vector< core::PathVectorPtr_t > | hpp::rbprm::interpolation::fitBeziersToPath (RbPrmFullBodyPtr_t fullbody, const pinocchio::Frame &effector, const value_type comPathLength, const PathPtr_t fullBodyComPath, const State &startState, const State &nextState) |
| fitBeziersToPath generate a vector of pathVector : each pathVector containt BezierPath, computed with varying value of weight-rrt More...
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