17 #ifndef HPP_RBPRM_SHOOTER_HH
18 #define HPP_RBPRM_SHOOTER_HH
20 #include <hpp/core/problem-solver.hh>
21 #include <hpp/pinocchio/joint.hh>
26 #include <hpp/core/configuration-shooter.hh>
37 typedef hpp::core::Container<hpp::core::AffordanceObjects_t>
affMap_t;
68 const core::ObjectStdVector_t& geometries,
const affMap_t& affordances,
69 const std::vector<std::string>& filter = std::vector<std::string>(),
70 const std::map<std::string, std::vector<std::string> >& affFilters =
71 std::map<std::string, std::vector<std::string> >(),
72 const std::size_t shootLimit = 10000,
73 const std::size_t displacementLimit = 100);
82 void BoundSO3(
const std::vector<double>& limitszyx);
84 void sampleExtraDOF(
bool sampleExtraDOF);
100 const core::ObjectStdVector_t& geometries,
const affMap_t& affordances,
101 const std::vector<std::string>& filter,
102 const std::map<std::string, std::vector<std::string> >& affFilters,
103 const std::size_t shootLimit = 10000,
104 const std::size_t displacementLimit = 100);
108 virtual void impl_shoot(core::Configuration_t& q)
const;
111 void InitWeightedTriangles(
const core::ObjectStdVector_t& geometries);
115 const std::vector<double>& eulerSo3,
116 core::Configuration_t& config,
const fcl::Vec3f p)
const;
119 std::vector<double> weights_;
120 std::vector<T_TriangleNormal> triangles_;
123 core::configurationShooter::UniformPtr_t uniformShooter_;
124 double ratioWeighted_;
125 RbPrmShooterWkPtr_t weak_;
127 std::vector<double> eulerSo3_;
132 #endif // HPP_RBPRM_SHOOTER_HH