19 #ifndef HPP_RBPRM_STATE_HH 20 # define HPP_RBPRM_STATE_HH 23 # include <hpp/pinocchio/device.hh> 32 typedef std::vector<State>
T_State;
34 typedef std::pair<pinocchio::value_type, rbprm::State>
StateFrame;
41 State():nbContacts(0), stable(false){}
51 bool RemoveContact(
const std::string& contactId);
58 std::string RemoveFirstContact();
63 std::vector<std::string> contactVariations(
const State& previous)
const;
69 std::vector<std::string> freeVariations(
const State& previous,
const std::vector<std::string>& allEffectors)
const;
75 std::vector<std::string> allVariations(
const State& previous,
const std::vector<std::string>& allEffectors)
const;
81 std::vector<std::string> fixedContacts(
const State& previous)
const;
86 void contactCreations(
const State& previous, std::vector<std::string>& outList)
const;
91 std::vector<std::string> contactCreations(
const State& previous)
const;
96 std::vector<std::string> contactBreaks(
const State& previous)
const;
101 void contactBreaks(
const State& previous, std::vector<std::string>& outList)
const;
104 void print(std::stringstream& ss)
const;
105 void print(std::stringstream& ss,
const State& previous)
const;
106 void printInternal(std::stringstream& ss)
const;
128 template<
typename Iter>
131 std::vector<std::string> res;
132 for(Iter it = start; it != end; ++it)
134 const std::string& eff = *it;
135 std::map<std::string, bool>::const_iterator cit = state.
contacts_.find(eff);
136 if(cit == state.
contacts_.end() || !cit->second)
146 #endif // HPP_RBPRM_STATE_HH #define HPP_RBPRM_DLLAPI
Definition: config.hh:64
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
Definition: algorithm.hh:27
std::vector< StateFrame > T_StateFrame
Definition: rbprm-state.hh:35
double robustness
Definition: rbprm-state.hh:117
~State()
Definition: rbprm-state.hh:43
std::queue< std::string > contactOrder_
Definition: rbprm-state.hh:114
HPP_RBPRM_DLLAPI pinocchio::value_type effectorDistance(const State &from, const State &to)
T_State::const_iterator CIT_State
Definition: rbprm-state.hh:33
State()
Definition: rbprm-state.hh:41
std::map< std::string, bool > contacts_
Definition: rbprm-state.hh:110
HPP_RBPRM_DLLAPI std::vector< std::string > freeEffectors(const State &state, Iter start, Iter end)
Definition: rbprm-state.hh:129
std::vector< State > T_State
Definition: rbprm-state.hh:31
std::map< std::string, fcl::Vec3f > contactPositions_
Definition: rbprm-state.hh:112
bool stable
Definition: rbprm-state.hh:116
std::pair< pinocchio::value_type, rbprm::State > StateFrame
Definition: rbprm-state.hh:34
std::size_t nbContacts
Definition: rbprm-state.hh:115
Definition: rbprm-state.hh:40
std::map< std::string, fcl::Vec3f > contactNormals_
Definition: rbprm-state.hh:111
hpp::pinocchio::Configuration_t configuration_
Definition: rbprm-state.hh:109
std::map< std::string, fcl::Matrix3f > contactRotation_
Definition: rbprm-state.hh:113