17 #ifndef HPP_RBPRM_SHOOTER_HH 18 # define HPP_RBPRM_SHOOTER_HH 23 # include <hpp/core/problem-solver.hh> 24 # include <hpp/pinocchio/joint.hh> 26 # include <hpp/core/configuration-shooter.hh> 38 typedef boost::shared_ptr <RbPrmShooter>
40 typedef hpp::core::Container <hpp::core::AffordanceObjects_t>
affMap_t;
66 const core::ObjectStdVector_t &geometries,
67 const affMap_t& affordances,
68 const std::vector<std::string>& filter = std::vector<std::string>(),
69 const std::map<std::string, std::vector<std::string> >& affFilters = std::map<std::string, std::vector<std::string> >(),
70 const std::size_t shootLimit = 10000,
71 const std::size_t displacementLimit = 100);
79 void BoundSO3(
const std::vector<double>& limitszyx);
81 void sampleExtraDOF(
bool sampleExtraDOF);
98 const core::ObjectStdVector_t &geometries,
99 const affMap_t &affordances,
100 const std::vector<std::string>& filter,
101 const std::map<std::string, std::vector<std::string> >& affFilters,
102 const std::size_t shootLimit = 10000,
103 const std::size_t displacementLimit = 100);
107 virtual void impl_shoot (core::Configuration_t& q)
const;
110 void InitWeightedTriangles (
const core::ObjectStdVector_t &geometries);
111 const T_TriangleNormal& RandomPointIntriangle ()
const;
112 const T_TriangleNormal& WeightedTriangle ()
const;
113 void randConfigAtPos(
const pinocchio::RbPrmDevicePtr_t robot,
const std::vector<double>& eulerSo3, core::Configuration_t& config,
const fcl::Vec3f p)
const;
117 std::vector<double> weights_;
118 std::vector<T_TriangleNormal> triangles_;
121 core::configurationShooter::UniformPtr_t uniformShooter_;
122 double ratioWeighted_;
123 RbPrmShooterWkPtr_t weak_;
125 std::vector<double> eulerSo3_;
130 #endif // HPP_RBPRM_SHOOTER_HH
fcl::Vec3f p2
Definition: rbprm-shooter.hh:35
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
fcl::Vec3f p3
Definition: rbprm-shooter.hh:35
Definition: algorithm.hh:27
const std::size_t shootLimit_
Definition: rbprm-shooter.hh:90
const std::vector< std::string > filter_
Definition: rbprm-shooter.hh:92
boost::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
void ratioWeighted(double ratio)
Definition: rbprm-shooter.hh:83
HPP_PREDEF_CLASS(RbPrmFullBody)
Definition: rbprm-shooter.hh:33
boost::shared_ptr< RbPrmValidation > RbPrmValidationPtr_t
Definition: rbprm-validation.hh:34
Definition: rbprm-shooter.hh:45
boost::shared_ptr< RbPrmShooter > RbPrmShooterPtr_t
Definition: rbprm-shooter.hh:39
std::pair< fcl::Vec3f, TrianglePoints > T_TriangleNormal
Definition: rbprm-shooter.hh:87
fcl::Vec3f p1
Definition: rbprm-shooter.hh:35
const std::size_t displacementLimit_
Definition: rbprm-shooter.hh:91