#include <hpp/rbprm/config.hh>
#include <hpp/rbprm/sampling/sample.hh>
#include <hpp/rbprm/sampling/heuristic.hh>
#include <hpp/fcl/octree.h>
#include <boost/function.hpp>
#include <vector>
#include <map>
Classes | |
struct | hpp::rbprm::sampling::OctreeReport |
Collision report for a Sample for which the octree node is colliding with the environment. More... | |
struct | hpp::rbprm::sampling::sample_compare |
Comparaison operator between Samples Used to sort the contact candidates depending on their heuristic value. More... | |
class | hpp::rbprm::sampling::SampleDB |
Sample configuration for a robot limb, stored in an octree and used for proximity requests for contact creation. More... | |
Namespaces | |
hpp | |
Copyright (c) 2017 CNRS Authors: stonneau. | |
hpp::rbprm | |
hpp::rbprm::sampling | |
Typedefs | |
typedef std::multiset< OctreeReport, sample_compare > | hpp::rbprm::sampling::T_OctreeReport |
typedef std::vector< double > | hpp::rbprm::sampling::T_Double |
typedef std::map< std::string, T_Double > | hpp::rbprm::sampling::T_Values |
typedef sampling::SampleVector_t | hpp::rbprm::sampling::T_Sample |
typedef boost::function< double(const SampleDB &sampleDB, const sampling::Sample &sample) > | hpp::rbprm::sampling::evaluate |
Defines an evaluation function for a sample. More... | |
typedef std::map< std::string, evaluate > | hpp::rbprm::sampling::T_evaluate |
typedef std::pair< std::size_t, std::size_t > | hpp::rbprm::sampling::VoxelSampleId |
typedef std::map< long int, VoxelSampleId > | hpp::rbprm::sampling::T_VoxelSampleId |
typedef std::pair< double, double > | hpp::rbprm::sampling::ValueBound |
typedef std::map< std::string, ValueBound > | hpp::rbprm::sampling::T_ValueBound |
Functions | |
hpp::rbprm::sampling::HPP_PREDEF_CLASS (SampleDB) | |
HPP_RBPRM_DLLAPI SampleDB & | hpp::rbprm::sampling::addValue (SampleDB &database, const std::string &valueName, const evaluate eval, bool isStaticValue=true, bool sortSamples=true) |
HPP_RBPRM_DLLAPI bool | hpp::rbprm::sampling::saveLimbDatabase (const SampleDB &database, std::ofstream &dbFile) |
HPP_RBPRM_DLLAPI T_OctreeReport | hpp::rbprm::sampling::GetCandidates (const SampleDB &sc, const fcl::Transform3f &treeTrf, const hpp::pinocchio::CollisionObjectPtr_t &o2, const fcl::Vec3f &direction, const HeuristicParam ¶ms, const heuristic evaluate=0) |
Given the current position of a robot, returns a set of candidate sample configurations for contact generation. More... | |
HPP_RBPRM_DLLAPI bool | hpp::rbprm::sampling::GetCandidates (const SampleDB &sc, const fcl::Transform3f &treeTrf, const hpp::pinocchio::CollisionObjectPtr_t &o2, const fcl::Vec3f &direction, T_OctreeReport &report, const HeuristicParam ¶ms, const heuristic evaluate=0) |
Given the current position of a robot, returns a set of candidate sample configurations for contact generation. More... | |