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ContactReport HPP_RBPRM_DLLAPI | hpp::rbprm::contact::oneStep (ContactGenHelper &helper) |
| Generates one step of the contact planner. More...
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hpp::rbprm::State HPP_RBPRM_DLLAPI | hpp::rbprm::contact::ComputeContacts (const hpp::rbprm::RbPrmFullBodyPtr_t &body, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const fcl::Vec3f &direction, const double robustnessTreshold=0, const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0)) |
| Generates a balanced contact configuration, considering the given current configuration of the robot, and a direction of motion. More...
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hpp::rbprm::contact::ContactReport HPP_RBPRM_DLLAPI | hpp::rbprm::contact::ComputeContacts (const hpp::rbprm::State &previous, const hpp::rbprm::RbPrmFullBodyPtr_t &body, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const fcl::Vec3f &direction, const double robustnessTreshold=0, const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0), const core::PathConstPtr_t &comPath=core::PathPtr_t(), const double currentPathId=0, const bool testReachability=true, const bool quasiStatic=false) |
| Generates a balanced contact configuration, considering the given current configuration of the robot, and a previous, balanced configuration. More...
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