hpp-rbprm  4.14.0
Implementation of RB-PRM planner using hpp.
kinematics_constraints.hh
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1 #ifndef HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
2 #define HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
3 
4 #include <hpp/pinocchio/configuration.hh>
7 namespace hpp {
8 namespace rbprm {
9 
11 class RbPrmFullBody;
12 typedef shared_ptr<RbPrmFullBody> RbPrmFullBodyPtr_t;
13 
14 namespace reachability {
15 
24 std::pair<MatrixX3, MatrixX3> loadConstraintsFromObj(
25  const std::string& fileName, double minDistance = 0.);
26 
27 std::pair<MatrixX3, VectorX> computeAllKinematicsConstraints(
28  const RbPrmFullBodyPtr_t& fullBody,
29  const pinocchio::ConfigurationPtr_t& configuration);
30 
31 std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForState(
32  const RbPrmFullBodyPtr_t& fullBody, const State& state);
33 
34 std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForLimb(
35  const RbPrmFullBodyPtr_t& fullBody, const State& state,
36  const std::string& limbName);
37 
38 std::pair<MatrixX3, VectorX> getInequalitiesAtTransform(
39  const std::pair<MatrixX3, MatrixX3>& NV,
40  const hpp::pinocchio::Transform3f& transform);
41 
42 bool verifyKinematicConstraints(const std::pair<MatrixX3, VectorX>& Ab,
43  const fcl::Vec3f& point);
44 
45 bool verifyKinematicConstraints(const std::pair<MatrixX3, MatrixX3>& NV,
46  const hpp::pinocchio::Transform3f& transform,
47  const fcl::Vec3f& point);
48 
50  const State& state, fcl::Vec3f point);
51 
52 } // namespace reachability
53 } // namespace rbprm
54 } // namespace hpp
55 
56 #endif // KINEMATICS_CONSTRAINTS_HH
Definition: rbprm-fullbody.hh:51
bool verifyKinematicConstraints(const std::pair< MatrixX3, VectorX > &Ab, const fcl::Vec3f &point)
std::pair< MatrixX3, VectorX > getInequalitiesAtTransform(const std::pair< MatrixX3, MatrixX3 > &NV, const hpp::pinocchio::Transform3f &transform)
std::pair< MatrixX3, VectorX > computeAllKinematicsConstraints(const RbPrmFullBodyPtr_t &fullBody, const pinocchio::ConfigurationPtr_t &configuration)
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForLimb(const RbPrmFullBodyPtr_t &fullBody, const State &state, const std::string &limbName)
std::pair< MatrixX3, MatrixX3 > loadConstraintsFromObj(const std::string &fileName, double minDistance=0.)
loadConstraintsFromObj load the obj file and compute a list of normal and vertex position from it
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForState(const RbPrmFullBodyPtr_t &fullBody, const State &state)
fcl::Vec3f transform(const fcl::Vec3f &p, const fcl::Vec3f &tr, const fcl::Matrix3f &ro)
HPP_PREDEF_CLASS(RbPrmFullBody)
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40