1 #ifndef HPP_RBPRM_REACHABILITY_HH 2 #define HPP_RBPRM_REACHABILITY_HH 5 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh> 8 #include <hpp/core/path.hh> 17 namespace reachability{
36 x(fcl::Vec3f::Zero()),
45 x(fcl::Vec3f::Zero()),
65 if (
path_->length() > 0){
83 std::pair<MatrixXX, VectorX>
stackConstraints(
const std::pair<MatrixXX, VectorX> &Ab,
const std::pair<MatrixXX, VectorX> &Cd);
85 bool intersectionExist(
const std::pair<MatrixXX, VectorX>& Ab,
const fcl::Vec3f& c, fcl::Vec3f &c_out);
87 std::pair<MatrixXX, VectorX>
computeStabilityConstraints(
const centroidal_dynamics::Equilibrium& contactPhase,
const fcl::Vec3f& int_point = fcl::Vec3f(0,0,0),
const fcl::Vec3f& acc = fcl::Vec3f(0,0,0));
103 Result isReachable(
const RbPrmFullBodyPtr_t& fullbody,
State &previous,
State& next,
const fcl::Vec3f& acc = fcl::Vec3f::Zero(),
bool useIntermediateState =
false);
105 Result isReachableDynamic(
const RbPrmFullBodyPtr_t& fullbody,
State &previous,
State& next,
bool tryQuasiStatic =
true, std::vector<double> timings = std::vector<double>(),
int numPointsPerPhases = 0);
112 #endif // REACHABILITY_HH Result isReachableDynamic(const RbPrmFullBodyPtr_t &fullbody, State &previous, State &next, bool tryQuasiStatic=true, std::vector< double > timings=std::vector< double >(), int numPointsPerPhases=0)
fcl::Vec3f xBreak_
Definition: reachability.hh:74
std::pair< MatrixXX, VectorX > constraints_
Definition: reachability.hh:76
Definition: algorithm.hh:27
core::PathPtr_t path_
Definition: reachability.hh:77
Definition: reachability.hh:27
VectorX timings_
Definition: reachability.hh:78
Definition: reachability.hh:24
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > VectorX
Definition: rbprm-limb.hh:49
Result isReachable(const RbPrmFullBodyPtr_t &fullbody, State &previous, State &next, const fcl::Vec3f &acc=fcl::Vec3f::Zero(), bool useIntermediateState=false)
isReachable Compute the feasibility of the contact transition between the two state, with the quasiStatic formulation of 2-PAC (https://hal.archives-ouvertes.fr/hal-01609055)
Definition: reachability.hh:25
Definition: reachability.hh:26
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
std::pair< MatrixXX, VectorX > computeConstraintsForState(const RbPrmFullBodyPtr_t &fullbody, State &state, bool &success)
Definition: reachability.hh:23
HPP_PREDEF_CLASS(RbPrmFullBody)
Definition: reachability.hh:32
Definition: reachability.hh:22
fcl::Vec3f xCreate_
Definition: reachability.hh:75
Result(Status status)
Definition: reachability.hh:43
Definition: reachability.hh:28
Definition: reachability.hh:21
Status status
Definition: reachability.hh:72
fcl::Vec3f x
Definition: reachability.hh:73
std::pair< MatrixXX, VectorX > computeStabilityConstraints(const centroidal_dynamics::Equilibrium &contactPhase, const fcl::Vec3f &int_point=fcl::Vec3f(0, 0, 0), const fcl::Vec3f &acc=fcl::Vec3f(0, 0, 0))
bool pathExist()
Definition: reachability.hh:63
Result()
Definition: reachability.hh:34
std::pair< MatrixXX, VectorX > computeStabilityConstraintsForState(const RbPrmFullBodyPtr_t &fullbody, State &state, bool &success, const fcl::Vec3f &acc)
Definition: rbprm-state.hh:40
bool success()
Definition: reachability.hh:61
Definition: reachability.hh:29
std::pair< MatrixXX, VectorX > stackConstraints(const std::pair< MatrixXX, VectorX > &Ab, const std::pair< MatrixXX, VectorX > &Cd)
bool intersectionExist(const std::pair< MatrixXX, VectorX > &Ab, const fcl::Vec3f &c, fcl::Vec3f &c_out)
Status
Definition: reachability.hh:20
Result(Status status, fcl::Vec3f x)
Definition: reachability.hh:52
std::vector< core::PathPtr_t > pathPerPhases_
Definition: reachability.hh:79