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std::vector< hpp::pinocchio::CollisionObjectPtr_t > HPP_RBPRM_DLLAPI | hpp::rbprm::contact::getAffObjectsForLimb (const std::string &limb, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters) |
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Q_State | hpp::rbprm::contact::maintain_contacts_combinatorial (const hpp::rbprm::State ¤tState, const std::size_t maxBrokenContacts=1) |
| Generates all potentially valid cases of valid contact maintenance given a previous configuration. More...
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T_ContactState | hpp::rbprm::contact::gen_contacts_combinatorial (const std::vector< std::string > &freeEffectors, const State &previous, const std::size_t maxCreatedContacts, const bool maximiseContacts=false) |
| Generates all potentially valid cases of valid contact creation by removing the top state of the priority stack. More...
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projection::ProjectionReport | hpp::rbprm::contact::maintain_contacts (ContactGenHelper &contactGenHelper) |
| Given a combinatorial of possible contacts, generate the first "valid" configuration, that is the first kinematic configuration that removes the minimum number of contacts and is collision free. More...
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projection::ProjectionReport | hpp::rbprm::contact::generate_contact (const ContactGenHelper &contactGenHelper, const std::string &limb, sampling::HeuristicParam ¶ms, const sampling::heuristic evaluate=0) |
| Given a current state and an effector, tries to generate a contact configuration. More...
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projection::ProjectionReport | hpp::rbprm::contact::gen_contacts (ContactGenHelper &contactGenHelper) |
| Given a combinatorial of possible contacts, generate the first "valid" contact configuration, that is the first contact configuration is contact and equilibrium. More...
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projection::ProjectionReport | hpp::rbprm::contact::repositionContacts (ContactGenHelper &contactGenHelper) |
| Tries to reposition one contact of a given state into a new one, more balanced. More...
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