hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
algorithm.hh
Go to the documentation of this file.
1 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-wholebody-step-planner is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-wholebody-step-planner. If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_ALGORITHM_HH
20 #define HPP_RBPRM_ALGORITHM_HH
21 
23 #include <hpp/rbprm/reports.hh>
24 #include <queue>
25 
26 namespace hpp {
27 namespace rbprm {
28 namespace contact {
29 
38 
56  pinocchio::ConfigurationIn_t configuration, const affMap_t& affordances,
57  const std::map<std::string, std::vector<std::string> >& affFilters,
58  const fcl::Vec3f& direction, const double robustnessTreshold = 0,
59  const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0));
60 
82  const hpp::rbprm::State& previous,
84  pinocchio::ConfigurationIn_t configuration, const affMap_t& affordances,
85  const std::map<std::string, std::vector<std::string> >& affFilters,
86  const fcl::Vec3f& direction, const double robustnessTreshold = 0,
87  const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0),
88  const core::PathConstPtr_t& comPath = core::PathPtr_t(),
89  const double currentPathId = 0, const bool testReachability = true,
90  const bool quasiStatic = false);
91 
92 } // namespace contact
93 } // namespace rbprm
94 } // namespace hpp
95 #endif // HPP_RBPRM_ALGORITHM_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
hpp::rbprm::State HPP_RBPRM_DLLAPI ComputeContacts(const hpp::rbprm::RbPrmFullBodyPtr_t &body, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const fcl::Vec3f &direction, const double robustnessTreshold=0, const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0))
ContactReport HPP_RBPRM_DLLAPI oneStep(ContactGenHelper &helper)
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:11
Definition: algorithm.hh:26
Definition: rbprm-state.hh:40
Definition: contact_generation.hh:35
Definition: reports.hh:51