contact_generation.hh File Reference
Include dependency graph for contact_generation.hh:
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Classes

struct  hpp::rbprm::contact::ContactGenHelper
 

Namespaces

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

Typedefs

typedef std::queue< hpp::rbprm::Statehpp::rbprm::contact::Q_State
 
typedef std::pair< hpp::rbprm::State, std::vector< std::string > > hpp::rbprm::contact::ContactState
 
typedef std::queue< ContactState > hpp::rbprm::contact::T_ContactState
 

Functions

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)
 
Q_State hpp::rbprm::contact::maintain_contacts_combinatorial (const hpp::rbprm::State &currentState, const std::size_t maxBrokenContacts=1)
 Generates all potentially valid cases of valid contact maintenance given a previous configuration. More...
 
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...
 
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...
 
projection::ProjectionReport hpp::rbprm::contact::generate_contact (const ContactGenHelper &contactGenHelper, const std::string &limb, sampling::HeuristicParam &params, const sampling::heuristic evaluate=0)
 Given a current state and an effector, tries to generate a contact configuration. More...
 
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...
 
projection::ProjectionReport hpp::rbprm::contact::repositionContacts (ContactGenHelper &contactGenHelper)
 Tries to reposition one contact of a given state into a new one, more balanced. More...