19 #ifndef HPP_RBPRM_ALGORITHM_HH 20 # define HPP_RBPRM_ALGORITHM_HH 56 const std::map<std::string, std::vector<std::string> >& affFilters,
const fcl::Vec3f& direction,
57 const double robustnessTreshold = 0,
const fcl::Vec3f& acceleration = fcl::Vec3f(0,0,0));
78 pinocchio::ConfigurationIn_t configuration,
80 const std::map<std::string, std::vector<std::string> >& affFilters,
const fcl::Vec3f& direction,
81 const double robustnessTreshold = 0,
const fcl::Vec3f& acceleration = fcl::Vec3f(0,0,0),
82 const core::PathConstPtr_t& comPath = core::PathPtr_t(),
const double currentPathId=0,
const bool testReachability=
true,
const bool quasiStatic=
false);
88 #endif // HPP_RBPRM_ALGORITHM_HH hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:27
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
Definition: rbprm-state.hh:40