#include <hpp/manipulation/problem-solver.hh>

Inheritance diagram for hpp::manipulation::ProblemSolver:

Collaboration diagram for hpp::manipulation::ProblemSolver:

[legend]

Public Types
typedef core::ProblemSolver	parent_t

typedef std::vector< std::string >	Names_t

Public Types inherited from hpp::core::ProblemSolver
typedef std::vector< PathOptimizerPtr_t >	PathOptimizers_t

typedef std::vector< std::string >	PathOptimizerTypes_t

typedef std::vector< std::string >	ConfigValidationTypes_t

Public Member Functions
virtual	~ProblemSolver ()
	Destructor. More...

	ProblemSolver ()

virtual void	robot (const core::DevicePtr_t &robot)

const DevicePtr_t &	robot () const
	Get robot. More...

void	createPlacementConstraint (const std::string &name, const Strings_t &surface1, const Strings_t &surface2, const value_type &margin=1e-4)

void	createPrePlacementConstraint (const std::string &name, const Strings_t &surface1, const Strings_t &surface2, const value_type &width, const value_type &margin=1e-4)

void	createGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)

void	createPreGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)

virtual void	pathValidationType (const std::string &type, const value_type &tolerance)

virtual void	resetProblem ()
	Create a new problem. More...

virtual void	resetRoadmap ()
	Create a new Roadmap. More...

ProblemPtr_t	problem () const
	Get pointer to problem. More...

void	setTargetState (const graph::StatePtr_t state)

Constraint graph
void	constraintGraph (const std::string &graph)
	Set the constraint graph. More...

graph::GraphPtr_t	constraintGraph () const
	Get the constraint graph. More...

void	initConstraintGraph ()
	Should be called before any call on the graph is made. More...

Public Member Functions inherited from hpp::core::ProblemSolver
void	robotType (const std::string &type)

const std::string &	robotType () const

DevicePtr_t	createRobot (const std::string &name)

const DevicePtr_t &	robot () const

ProblemPtr_t	problem ()

const Configuration_t &	initConfig () const

virtual void	initConfig (ConfigurationIn_t config)

const Configurations_t &	goalConfigs () const

virtual void	addGoalConfig (ConfigurationIn_t config)

void	resetGoalConfigs ()

void	setGoalConstraints (const NumericalConstraints_t &constraints)

void	resetGoalConstraints ()

virtual void	pathPlannerType (const std::string &type)

const std::string &	pathPlannerType () const

void	distanceType (const std::string &type)

const std::string &	distanceType () const

void	steeringMethodType (const std::string &type)

const std::string &	steeringMethodType () const

void	configurationShooterType (const std::string &type)

const std::string &	configurationShooterType () const

const PathPlannerPtr_t &	pathPlanner () const

void	addPathOptimizer (const std::string &type)

const PathOptimizerTypes_t &	pathOptimizerTypes () const

void	clearPathOptimizers ()

const PathOptimizerPtr_t &	pathOptimizer (std::size_t rank) const

void	optimizePath (PathVectorPtr_t path)

const std::string &	pathValidationType (value_type &tolerance) const

void	pathProjectorType (const std::string &type, const value_type &step)

const std::string &	pathProjectorType (value_type &tolerance) const

virtual void	addConfigValidation (const std::string &type)

const ConfigValidationTypes_t	configValidationTypes ()

void	clearConfigValidations ()

void	addConfigValidationBuilder (const std::string &type, const ConfigValidationBuilder_t &builder)

const RoadmapPtr_t &	roadmap () const

const ObjectStdVector_t &	collisionObstacles () const

const ObjectStdVector_t &	distanceObstacles () const

void	roadmap (const RoadmapPtr_t &roadmap)

void	initDistance ()

void	initSteeringMethod ()

void	initPathProjector ()

void	initPathValidation ()

void	initConfigValidation ()

void	initValidations ()

virtual void	initProblemTarget ()

void	addConstraint (const ConstraintPtr_t &constraint)

const ConstraintSetPtr_t &	constraints () const

virtual void	resetConstraints ()

virtual void	addNumericalConstraintToConfigProjector (const std::string &configProjName, const std::string &constraintName, const std::size_t priority=0)

void	addNumericalConstraint (const std::string &name, const constraints::ImplicitPtr_t &constraint)

void	comparisonType (const std::string &name, const ComparisonTypes_t types)

void	comparisonType (const std::string &name, const ComparisonType &type)

ComparisonTypes_t	comparisonType (const std::string &name) const

constraints::ImplicitPtr_t	numericalConstraint (const std::string &name)

void	computeValueAndJacobian (const Configuration_t &configuration, vector_t &value, matrix_t &jacobian) const

void	maxIterProjection (size_type iterations)

size_type	maxIterProjection () const

void	maxIterPathPlanning (size_type iterations)

size_type	maxIterPathPlanning () const

void	setTimeOutPathPlanning (double timeOut)

double	getTimeOutPathPlanning ()

void	errorThreshold (const value_type &threshold)

value_type	errorThreshold () const

void	createPathOptimizers ()

virtual bool	prepareSolveStepByStep ()

virtual bool	executeOneStep ()

virtual void	finishSolveStepByStep ()

virtual void	solve ()

bool	directPath (ConfigurationIn_t start, ConfigurationIn_t end, bool validate, std::size_t &pathId, std::string &report)

void	addConfigToRoadmap (ConfigurationIn_t config)

void	addEdgeToRoadmap (ConfigurationIn_t config1, ConfigurationIn_t config2, const PathPtr_t &path)

void	interrupt ()

std::size_t	addPath (const PathVectorPtr_t &path)

void	erasePath (std::size_t pathId)

const PathVectors_t &	paths () const

virtual void	addObstacle (const DevicePtr_t &device, bool collision, bool distance)

virtual void	addObstacle (const CollisionObjectPtr_t &inObject, bool collision, bool distance)

virtual void	removeObstacle (const std::string &name)

virtual void	addObstacle (const std::string &name, const CollisionGeometryPtr_t &inObject, const Transform3s &pose, bool collision, bool distance)

virtual void	addObstacle (const std::string &name, FclCollisionObject &inObject, bool collision, bool distance)

void	removeObstacleFromJoint (const std::string &jointName, const std::string &obstacleName)

void	cutObstacle (const std::string &name, const coal::AABB &aabb)

void	filterCollisionPairs ()

CollisionObjectPtr_t	obstacle (const std::string &name) const

const Transform3s &	obstacleFramePosition (const std::string &name) const

std::list< std::string >	obstacleNames (bool collision, bool distance) const

const DistanceBetweenObjectsPtr_t &	distanceBetweenObjects () const

pinocchio::GeomModelPtr_t	obstacleGeomModel () const

pinocchio::GeomDataPtr_t	obstacleGeomData () const

void	addConstraint (const ConstraintPtr_t &constraint)

const ConstraintSetPtr_t &	constraints () const

virtual void	resetConstraints ()

virtual void	addNumericalConstraintToConfigProjector (const std::string &configProjName, const std::string &constraintName, const std::size_t priority=0)

void	addNumericalConstraint (const std::string &name, const constraints::ImplicitPtr_t &constraint)

void	comparisonType (const std::string &name, const ComparisonTypes_t types)

void	comparisonType (const std::string &name, const ComparisonType &type)

ComparisonTypes_t	comparisonType (const std::string &name) const

constraints::ImplicitPtr_t	numericalConstraint (const std::string &name)

void	computeValueAndJacobian (const Configuration_t &configuration, vector_t &value, matrix_t &jacobian) const

void	maxIterProjection (size_type iterations)

size_type	maxIterProjection () const

void	maxIterPathPlanning (size_type iterations)

size_type	maxIterPathPlanning () const

void	setTimeOutPathPlanning (double timeOut)

double	getTimeOutPathPlanning ()

void	errorThreshold (const value_type &threshold)

value_type	errorThreshold () const

void	createPathOptimizers ()

virtual bool	prepareSolveStepByStep ()

virtual bool	executeOneStep ()

virtual void	finishSolveStepByStep ()

virtual void	solve ()

bool	directPath (ConfigurationIn_t start, ConfigurationIn_t end, bool validate, std::size_t &pathId, std::string &report)

void	addConfigToRoadmap (ConfigurationIn_t config)

void	addEdgeToRoadmap (ConfigurationIn_t config1, ConfigurationIn_t config2, const PathPtr_t &path)

void	interrupt ()

std::size_t	addPath (const PathVectorPtr_t &path)

void	erasePath (std::size_t pathId)

const PathVectors_t &	paths () const

virtual void	addObstacle (const DevicePtr_t &device, bool collision, bool distance)

virtual void	addObstacle (const CollisionObjectPtr_t &inObject, bool collision, bool distance)

virtual void	removeObstacle (const std::string &name)

virtual void	addObstacle (const std::string &name, const CollisionGeometryPtr_t &inObject, const Transform3s &pose, bool collision, bool distance)

virtual void	addObstacle (const std::string &name, FclCollisionObject &inObject, bool collision, bool distance)

void	removeObstacleFromJoint (const std::string &jointName, const std::string &obstacleName)

void	cutObstacle (const std::string &name, const coal::AABB &aabb)

void	filterCollisionPairs ()

CollisionObjectPtr_t	obstacle (const std::string &name) const

const Transform3s &	obstacleFramePosition (const std::string &name) const

std::list< std::string >	obstacleNames (bool collision, bool distance) const

const DistanceBetweenObjectsPtr_t &	distanceBetweenObjects () const

pinocchio::GeomModelPtr_t	obstacleGeomModel () const

pinocchio::GeomDataPtr_t	obstacleGeomData () const

Static Public Member Functions
static ProblemSolverPtr_t	create ()

Static Public Member Functions inherited from hpp::core::ProblemSolver
static ProblemSolverPtr_t	create ()

Public Attributes
core::Container< graph::GraphPtr_t >	graphs

ConstraintsAndComplements_t	constraintsAndComplements

Public Attributes inherited from hpp::core::ProblemSolver
Container< RobotBuilder_t >	robots

Container< ConfigurationShooterBuilder_t >	configurationShooters

Container< SteeringMethodBuilder_t >	steeringMethods

Container< DistanceBuilder_t >	distances

Container< PathValidationBuilder_t >	pathValidations

Container< ConfigValidationBuilder_t >	configValidations

Container< PathProjectorBuilder_t >	pathProjectors

Container< PathPlannerBuilder_t >	pathPlanners

Container< PathOptimizerBuilder_t >	pathOptimizers

Container< constraints::ImplicitPtr_t >	numericalConstraints

Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead	lockedJoints

Container< CenterOfMassComputationPtr_t >	centerOfMassComputations

Container< segments_t >	passiveDofs

Container< JointAndShapes_t >	jointAndShapes

Container< AffordanceObjects_t >	affordanceObjects

Container< AffordanceConfig_t >	affordanceConfigs

Protected Member Functions
virtual void	initializeProblem (ProblemPtr_t problem)

Protected Member Functions inherited from hpp::core::ProblemSolver
	ProblemSolver ()

void	problem (ProblemPtr_t problem)

Additional Inherited Members
Protected Attributes inherited from hpp::core::ProblemSolver
ConstraintSetPtr_t	constraints_

DevicePtr_t	robot_

ProblemPtr_t	problem_

PathPlannerPtr_t	pathPlanner_

RoadmapPtr_t	roadmap_

PathVectors_t	paths_

std::string	pathProjectorType_

value_type	pathProjectorTolerance_

std::string	pathPlannerType_

ProblemTargetPtr_t	target_

Member Typedef Documentation

◆ Names_t

typedef std::vector<std::string> hpp::manipulation::ProblemSolver::Names_t

◆ parent_t

typedef core::ProblemSolver hpp::manipulation::ProblemSolver::parent_t

Constructor & Destructor Documentation

◆ ~ProblemSolver()

virtual hpp::manipulation::ProblemSolver::~ProblemSolver ( )

inlinevirtual

Destructor.

Reimplemented from hpp::core::ProblemSolver.

◆ ProblemSolver()

hpp::manipulation::ProblemSolver::ProblemSolver ( )

Member Function Documentation

◆ constraintGraph() [1/2]

graph::GraphPtr_t hpp::manipulation::ProblemSolver::constraintGraph ( ) const

Get the constraint graph.

◆ constraintGraph() [2/2]

void hpp::manipulation::ProblemSolver::constraintGraph ( const std::string & graph )

Set the constraint graph.

◆ create()

static ProblemSolverPtr_t hpp::manipulation::ProblemSolver::create ( )

static

◆ createGraspConstraint()

void hpp::manipulation::ProblemSolver::createGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle
	)

Create the grasp constraint and its complement

Parameters

name	name of the grasp constraint,
gripper	gripper's name
handle	handle's name

Two constraints are created:

"name" corresponds to the grasp constraint.
"name/complement" corresponds to the complement.

◆ createPlacementConstraint()

void hpp::manipulation::ProblemSolver::createPlacementConstraint	(	const std::string &	name,
		const Strings_t &	surface1,
		const Strings_t &	surface2,
		const value_type &	margin = `1e-4`
	)

Create placement constraint

Parameters

name	name of the placement constraint,
triangleName	name of the first list of triangles,
envContactName	name of the second list of triangles.
margin	see hpp::constraints::ConvexShapeContact::setNormalMargin

◆ createPreGraspConstraint()

void hpp::manipulation::ProblemSolver::createPreGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle
	)

Create pre-grasp constraint

Parameters

name	name of the grasp constraint,
gripper	gripper's name
handle	handle's name

◆ createPrePlacementConstraint()

void hpp::manipulation::ProblemSolver::createPrePlacementConstraint	(	const std::string &	name,
		const Strings_t &	surface1,
		const Strings_t &	surface2,
		const value_type &	width,
		const value_type &	margin = `1e-4`
	)

Create pre-placement constraint

Parameters

name	name of the placement constraint,
triangleName	name of the first list of triangles,
envContactName	name of the second list of triangles.
width	approaching distance.
margin	see hpp::constraints::ConvexShapeContact::setNormalMargin

◆ initConstraintGraph()

void hpp::manipulation::ProblemSolver::initConstraintGraph ( )

Should be called before any call on the graph is made.

◆ initializeProblem()

virtual void hpp::manipulation::ProblemSolver::initializeProblem ( ProblemPtr_t problem )

protectedvirtual

Reimplemented from hpp::core::ProblemSolver.

◆ pathValidationType()

virtual void hpp::manipulation::ProblemSolver::pathValidationType	(	const std::string &	type,
		const value_type &	tolerance
	)

virtual

Reimplemented from hpp::core::ProblemSolver.

◆ problem()

ProblemPtr_t hpp::manipulation::ProblemSolver::problem ( ) const

inline

Get pointer to problem.

◆ resetProblem()

virtual void hpp::manipulation::ProblemSolver::resetProblem ( )

virtual

Create a new problem.

Reimplemented from hpp::core::ProblemSolver.

◆ resetRoadmap()

virtual void hpp::manipulation::ProblemSolver::resetRoadmap ( )

virtual

Create a new Roadmap.

Reimplemented from hpp::core::ProblemSolver.

◆ robot() [1/2]

const DevicePtr_t& hpp::manipulation::ProblemSolver::robot ( ) const

inline

Get robot.

◆ robot() [2/2]

virtual void hpp::manipulation::ProblemSolver::robot ( const core::DevicePtr_t & robot )

inlinevirtual

Set robot Check that robot is of type hpp::manipulation::Device

Reimplemented from hpp::core::ProblemSolver.

◆ setTargetState()

void hpp::manipulation::ProblemSolver::setTargetState ( const graph::StatePtr_t state )

Member Data Documentation

◆ constraintsAndComplements

ConstraintsAndComplements_t hpp::manipulation::ProblemSolver::constraintsAndComplements

◆ graphs

core::Container<graph::GraphPtr_t> hpp::manipulation::ProblemSolver::graphs

The documentation for this class was generated from the following file:

include/hpp/manipulation/problem-solver.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ Names_t

◆ parent_t

Constructor & Destructor Documentation

◆ ~ProblemSolver()

◆ ProblemSolver()

Member Function Documentation

◆ constraintGraph() [1/2]

◆ constraintGraph() [2/2]

◆ create()

◆ createGraspConstraint()

◆ createPlacementConstraint()

◆ createPreGraspConstraint()

◆ createPrePlacementConstraint()

◆ initConstraintGraph()

◆ initializeProblem()

◆ pathValidationType()

◆ problem()

◆ resetProblem()

◆ resetRoadmap()

◆ robot() [1/2]

◆ robot() [2/2]

◆ setTargetState()

Member Data Documentation

◆ constraintsAndComplements

◆ graphs