1 #ifndef HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
2 #define HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
4 #include <hpp/pinocchio/configuration.hh>
14 namespace reachability {
25 const std::string& fileName,
double minDistance = 0.);
29 const pinocchio::ConfigurationPtr_t& configuration);
36 const std::string& limbName);
39 const std::pair<MatrixX3, MatrixX3>& NV,
40 const hpp::pinocchio::Transform3f&
transform);
43 const fcl::Vec3f& point);
46 const hpp::pinocchio::Transform3f&
transform,
47 const fcl::Vec3f& point);
50 const State& state, fcl::Vec3f point);
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