19 #ifndef HPP_TIME_CONSTRAINT_HELPER_HH 20 # define HPP_TIME_CONSTRAINT_HELPER_HH 27 # include <hpp/core/path.hh> 28 # include <hpp/core/problem.hh> 29 # include <hpp/core/config-projector.hh> 30 # include <hpp/core/path-projector/progressive.hh> 31 # include <hpp/core/weighed-distance.hh> 39 namespace interpolation {
46 template<
class Path_T,
class ShooterFactory_T,
typename Constra
intFactory_T>
49 typedef boost::shared_ptr <core::pathProjector::Progressive> ProgressivePtr_t;
50 typedef core::pathProjector::Progressive Progressive;
58 const ShooterFactory_T& shooterFactory,
59 const ConstraintFactory_T& constraintFactory,
60 core::ProblemPtr_t referenceProblem,
61 core::PathPtr_t refPath,
62 const pinocchio::value_type error_treshold = 1e-3)
64 , fullBodyDevice_(fullbody->device_->clone())
65 , rootProblem_(core::Problem::create(fullBodyDevice_))
67 , shooterFactory_(shooterFactory)
68 , constraintFactory_(constraintFactory)
71 fullBodyDevice_->setDimensionExtraConfigSpace(fullBodyDevice_->extraConfigSpace().dimension()+1);
72 proj_ = core::ConfigProjector::create(rootProblem_->robot(),
"proj", error_treshold, 1000);
73 rootProblem_->collisionObstacles(referenceProblem->collisionObstacles());
75 rootProblem_->steeringMethod(steeringMethod_);
76 ProgressivePtr_t pProj = Progressive::create(rootProblem_->distance(), steeringMethod_, 0.06);
83 void SetConfigShooter(
const State& from,
const State& to);
84 void InitConstraints();
85 void SetContactConstraints(
const State& from,
const State& to);
86 core::PathVectorPtr_t Run(
const State& from,
const State& to,
const size_t maxIterations=0);
94 core::ConfigProjectorPtr_t
proj_;
128 template<
class Helper_T,
class ShooterFactory_T,
typename Constra
intFactory_T,
typename StateConstIterator>
130 const ShooterFactory_T& shooterFactory,
131 const ConstraintFactory_T& constraintFactory,
132 const StateConstIterator& startState,
133 const StateConstIterator& endState,
134 const std::size_t numOptimizations = 10,
135 const bool keepExtraDof =
false,
136 const pinocchio::value_type error_treshold = 0.001,
137 const size_t maxIterations = 0);
165 template<
class Helper_T,
class ShooterFactory_T,
typename Constra
intFactory_T>
167 core::ProblemPtr_t referenceProblem,
168 const ShooterFactory_T& shooterFactory,
169 const ConstraintFactory_T& constraintFactory,
170 const core::PathPtr_t refPath,
173 const std::size_t numOptimizations = 10,
174 const bool keepExtraDof =
false,
175 const pinocchio::value_type error_treshold = 0.001,
176 const size_t maxIterations = 0);
187 #include <hpp/rbprm/interpolation/time-constraint-helper.inl> 188 #endif // HPP_TIME_CONSTRAINT_HELPER_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
void SetConstraints(const State &from, const State &to)
Definition: time-constraint-helper.hh:82
Definition: algorithm.hh:27
~TimeConstraintHelper()
Definition: time-constraint-helper.hh:80
const ConstraintFactory_T & constraintFactory_
Definition: time-constraint-helper.hh:97
const ShooterFactory_T & shooterFactory_
Definition: time-constraint-helper.hh:96
static TimeConstraintSteeringPtr_t create(const core::ProblemPtr_t &problem, const std::size_t pathDofRank)
Create instance and return shared pointer.
Definition: time-constraint-steering.hh:48
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
core::DevicePtr_t fullBodyDevice_
Definition: time-constraint-helper.hh:90
RbPrmFullBodyPtr_t fullbody_
Definition: time-constraint-helper.hh:89
core::ConfigProjectorPtr_t proj_
Definition: time-constraint-helper.hh:94
core::PathPlannerPtr_t planner_
Definition: time-constraint-helper.hh:92
TimeConstraintHelper(RbPrmFullBodyPtr_t fullbody, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, core::ProblemPtr_t referenceProblem, core::PathPtr_t refPath, const pinocchio::value_type error_treshold=1e-3)
Definition: time-constraint-helper.hh:57
core::PathPtr_t HPP_RBPRM_DLLAPI interpolateStates(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, const StateConstIterator &startState, const StateConstIterator &endState, const std::size_t numOptimizations=10, const bool keepExtraDof=false, const pinocchio::value_type error_treshold=0.001, const size_t maxIterations=0)
core::PathPtr_t refPath_
Definition: time-constraint-helper.hh:93
boost::shared_ptr< TimeConstraintSteering< Path_T > > steeringMethod_
Definition: time-constraint-helper.hh:95
core::PathPtr_t HPP_RBPRM_DLLAPI interpolateStatesFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const ShooterFactory_T &shooterFactory, const ConstraintFactory_T &constraintFactory, const core::PathPtr_t refPath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations=10, const bool keepExtraDof=false, const pinocchio::value_type error_treshold=0.001, const size_t maxIterations=0)
core::ProblemPtr_t rootProblem_
Definition: time-constraint-helper.hh:91
Definition: rbprm-state.hh:40
Definition: time-constraint-helper.hh:47