rbprm-state.hh File Reference
#include <hpp/rbprm/config.hh>
#include <hpp/pinocchio/device.hh>
#include <hpp/rbprm/rbprm-limb.hh>
#include <queue>
#include <algorithm>
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Classes

struct  hpp::rbprm::State
 Helper class that maintains active contacts at a given state, as well as their locations can be used to determine contact transition wrt a previous State. More...
 

Namespaces

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

Typedefs

typedef std::vector< State > hpp::rbprm::T_State
 
typedef T_State::const_iterator hpp::rbprm::CIT_State
 
typedef std::pair< pinocchio::value_type, rbprm::State > hpp::rbprm::StateFrame
 
typedef std::vector< StateFrame > hpp::rbprm::T_StateFrame
 
typedef T_StateFrame::const_iterator hpp::rbprm::CIT_StateFrame
 

Functions

HPP_RBPRM_DLLAPI pinocchio::value_type hpp::rbprm::effectorDistance (const State &from, const State &to)
 Given two State, compute the contact effectors distance travelled between two states. More...
 
template<typename Iter >
HPP_RBPRM_DLLAPI std::vector< std::string > hpp::rbprm::freeEffectors (const State &state, Iter start, Iter end)
 Given a State and a list of effectors, computes the list of all the effectors that moved between the two States (ie contact was not maintained) More...