#include <hpp/rbprm/rbprm-state.hh>
Helper class that maintains active contacts at a given state, as well as their locations can be used to determine contact transition wrt a previous State
◆ State() [1/2]
hpp::rbprm::State::State |
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inline |
◆ State() [2/2]
hpp::rbprm::State::State |
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const State & |
other | ) |
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◆ ~State()
hpp::rbprm::State::~State |
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inline |
◆ allVariations()
std::vector<std::string> hpp::rbprm::State::allVariations |
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const State & |
previous, |
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const std::vector< std::string > & |
allEffectors |
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) |
| const |
Given an antecedent State and a list of effectors, computes the list of all the effectors that moved between the two States (ie contact was not maintained)
- Returns
- the list of all modified effectors between two States
◆ contactBreaks() [1/2]
std::vector<std::string> hpp::rbprm::State::contactBreaks |
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const State & |
previous | ) |
const |
Given a antecedent State, computes the list of Contacts that were broken between the two States
- Returns
- the list of all broken contacts between two States
◆ contactBreaks() [2/2]
void hpp::rbprm::State::contactBreaks |
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const State & |
previous, |
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std::vector< std::string > & |
outList |
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) |
| const |
Given a antecedent State, computes the list of Contacts that were broken between the two States
- Returns
- the list of all broken contacts between two States
◆ contactCreations() [1/2]
std::vector<std::string> hpp::rbprm::State::contactCreations |
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const State & |
previous | ) |
const |
Given a antecedent State, computes the list of Contacts that were created between the two States
- Returns
- the list of all created contacts between two States
◆ contactCreations() [2/2]
void hpp::rbprm::State::contactCreations |
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const State & |
previous, |
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std::vector< std::string > & |
outList |
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) |
| const |
Given a antecedent State, computes the list of Contacts that were created between the two States
- Returns
- the list of all created contacts between two States
◆ contactVariations()
std::vector<std::string> hpp::rbprm::State::contactVariations |
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const State & |
previous | ) |
const |
Given a antecedent State, computes the list of contact changes (creations an destructions)
- Returns
- the list of all modified contacts between two States
◆ fixedContacts()
std::vector<std::string> hpp::rbprm::State::fixedContacts |
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const State & |
previous | ) |
const |
Given a antecedent State, computes the list of Contacts that were maintained between the two States (both active at the same location)
- Returns
- the list of all preserved contacts between two States
◆ freeVariations()
std::vector<std::string> hpp::rbprm::State::freeVariations |
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const State & |
previous, |
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const std::vector< std::string > & |
allEffectors |
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) |
| const |
Given an antecedent State and a list of effectors, computes the list of effectors that were not in contact in any of the two states
- Returns
- the list of all modified contacts between two States
◆ operator=()
State& hpp::rbprm::State::operator= |
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const State & |
other | ) |
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◆ print() [1/3]
void hpp::rbprm::State::print |
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const |
◆ print() [2/3]
void hpp::rbprm::State::print |
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std::stringstream & |
ss | ) |
const |
◆ print() [3/3]
void hpp::rbprm::State::print |
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std::stringstream & |
ss, |
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const State & |
previous |
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) |
| const |
◆ printInternal()
void hpp::rbprm::State::printInternal |
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std::stringstream & |
ss | ) |
const |
◆ RemoveContact()
bool hpp::rbprm::State::RemoveContact |
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const std::string & |
contactId | ) |
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Removes an active contact from the State
- Parameters
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contactId | name of the contact to remove |
- Returns
- true whether the contact was indeed active
◆ RemoveFirstContact()
std::string hpp::rbprm::State::RemoveFirstContact |
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Removes the first active contact created in the state.Contact order is maintained in a queue
- Returns
- empty string if no contact was active, otherwise the id of the removed contact
◆ configuration_
hpp::pinocchio::Configuration_t hpp::rbprm::State::configuration_ |
◆ contactNormals_
std::map<std::string, fcl::Vec3f> hpp::rbprm::State::contactNormals_ |
◆ contactOrder_
std::queue<std::string> hpp::rbprm::State::contactOrder_ |
◆ contactPositions_
std::map<std::string, fcl::Vec3f> hpp::rbprm::State::contactPositions_ |
◆ contactRotation_
std::map<std::string, fcl::Matrix3f> hpp::rbprm::State::contactRotation_ |
◆ contacts_
std::map<std::string, bool> hpp::rbprm::State::contacts_ |
◆ nbContacts
std::size_t hpp::rbprm::State::nbContacts |
◆ robustness
double hpp::rbprm::State::robustness |
◆ stable
bool hpp::rbprm::State::stable |
The documentation for this struct was generated from the following file: