heuristic-tools.hh File Reference
#include <hpp/pinocchio/device.hh>
#include <hpp/core/path.hh>
#include <map>
Include dependency graph for heuristic-tools.hh:

Classes

struct  hpp::rbprm::sampling::HeuristicParam
 Defines a parameters set for the ZMP-based heuristic. More...
 
struct  hpp::rbprm::sampling::Vec2D
 Data structure to store 2-dimensional informations (2D vectors) More...
 
struct  hpp::rbprm::sampling::Plane
 Data structure to define a plane corresponding to the following equation : ax + by + cz + d = 0. More...
 

Namespaces

 hpp
 Copyright (c) 2017 CNRS Authors: stonneau.
 
 hpp::rbprm
 
 hpp::rbprm::sampling
 

Functions

fcl::Vec3f hpp::rbprm::sampling::transform (const fcl::Vec3f &p, const fcl::Vec3f &tr, const fcl::Matrix3f &ro)
 Computes the transform of a point. More...
 
bool hpp::rbprm::sampling::operator== (const Vec2D &v1, const Vec2D &v2)
 
bool hpp::rbprm::sampling::operator!= (const Vec2D &v1, const Vec2D &v2)
 
std::ostream & hpp::rbprm::sampling::operator<< (std::ostream &out, const Vec2D &v)
 
template<typename T >
bool hpp::rbprm::sampling::contains (const std::vector< T > &vect, const T &val)
 Function to verify the existence of an element in a std::vector. More...
 
double hpp::rbprm::sampling::computeAngle (const Vec2D &center, const Vec2D &end1, const Vec2D &end2)
 Computes the angle between 2 vectors on the same base point. More...
 
std::vector< Vec2D > hpp::rbprm::sampling::computeSupportPolygon (const std::map< std::string, fcl::Vec3f > &contactPositions)
 Computes the support polygon. More...
 
std::vector< Vec2D > hpp::rbprm::sampling::convexHull (std::vector< Vec2D > set)
 Computes the convex hull of a set. More...
 
Vec2D hpp::rbprm::sampling::weightedCentroidConvex2D (const std::vector< Vec2D > &convexPolygon)
 Computes the weighted centroid of a convex polygon This is the "real (visual) center" of a polygon (an approximation of it in the worst case) More...
 
void hpp::rbprm::sampling::removeNonGroundContacts (std::map< std::string, fcl::Vec3f > &contacts, double groundThreshold)
 Remove the contacts that does not belong to the "ground". More...