19 #ifndef HPP_RBPRM_PROJECTION_HH
20 #define HPP_RBPRM_PROJECTION_HH
28 namespace projection {
65 const pinocchio::ConfigurationIn_t conf,
67 const Vector3 offset = Vector3::Zero());
74 const core::CollisionValidationPtr_t& validation,
const std::string& limb,
80 const fcl::Vec3f& normal,
const fcl::Vec3f& position,
81 bool lockOtherJoints =
false,
82 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
87 const fcl::Vec3f& normal,
const fcl::Vec3f& position,
88 core::CollisionValidationPtr_t validation,
bool lockOtherJoints =
false,
89 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
95 core::CollisionValidationPtr_t validation,
96 pinocchio::ConfigurationOut_t configuration,
102 core::CollisionValidationPtr_t validation,
103 pinocchio::ConfigurationOut_t configuration,
104 const fcl::Matrix3f& rotationTarget, std::vector<bool> rotationFilter,
105 const fcl::Vec3f& positionTarget,
const fcl::Vec3f& normal,
111 const pinocchio::ConfigurationIn_t configuration,
112 const fcl::Vec3f& normal,
const fcl::Vec3f& position,
113 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
ProjectionReport HPP_RBPRM_DLLAPI projectToColFreeComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI projectToRootPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI projectToRootConfiguration(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State ¤tState, const Vector3 offset=Vector3::Zero())
ProjectionReport HPP_RBPRM_DLLAPI setCollisionFree(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI projectStateToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State ¤t, const fcl::Vec3f &normal, const fcl::Vec3f &position, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
ProjectionReport HPP_RBPRM_DLLAPI projectEffector(core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const fcl::Matrix3f &rotationTarget, std::vector< bool > rotationFilter, const fcl::Vec3f &positionTarget, const fcl::Vec3f &normal, const hpp::rbprm::State ¤t)
ProjectionReport HPP_RBPRM_DLLAPI projectToComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI projectSampleToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const sampling::OctreeReport &report, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const hpp::rbprm::State ¤t)
fcl::Transform3f HPP_RBPRM_DLLAPI computeProjectionMatrix(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const hpp::rbprm::RbPrmLimbPtr_t &limb, const pinocchio::ConfigurationIn_t configuration, const fcl::Vec3f &normal, const fcl::Vec3f &position, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:49
shared_ptr< RbPrmLimb > RbPrmLimbPtr_t
Definition: rbprm-limb.hh:41
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
Definition: reports.hh:38
Definition: sample-db.hh:38