1 #ifndef HPP_HEURISTIC_TOOLS_HH 2 #define HPP_HEURISTIC_TOOLS_HH 4 #include <hpp/pinocchio/device.hh> 5 #include <hpp/core/path.hh> 26 HeuristicParam(
const std::map<std::string, fcl::Vec3f> & cp,
const fcl::Vec3f & comPos,
const fcl::Vec3f & comSp,
const fcl::Vec3f & comAcc,
27 const std::string & sln,
const fcl::Transform3f & tf);
39 fcl::Vec3f
transform(
const fcl::Vec3f & p,
const fcl::Vec3f & tr,
const fcl::Matrix3f & ro);
47 Vec2D(
double xx,
double yy) : x(xx), y(yy) {}
50 double operator[](
int idx)
const;
51 double & operator[](
int idx);
52 static double euclideanDist(
const Vec2D & v1,
const Vec2D & v2);
60 bool contains(
const std::vector <T> & vect,
const T & val)
63 for(
unsigned int i = 0; !found && (i < vect.size()); ++i)
78 Plane() : a(0), b(0), c(1), d(0) {}
79 Plane(
double aa,
double bb,
double cc,
double dd) : a(aa), b(bb), c(cc), d(dd) {}
80 Plane(
const Plane & pe) : a(pe.a), b(pe.b), c(pe.c), d(pe.d) {}
96 std::vector <Vec2D>
computeSupportPolygon(
const std::map <std::string, fcl::Vec3f> & contactPositions);
102 std::vector <Vec2D>
convexHull(std::vector <Vec2D>
set);
HeuristicParam & operator=(const HeuristicParam &zhp)
double a
Definition: heuristic-tools.hh:74
void removeNonGroundContacts(std::map< std::string, fcl::Vec3f > &contacts, double groundThreshold)
double b
Definition: heuristic-tools.hh:75
double computeAngle(const Vec2D ¢er, const Vec2D &end1, const Vec2D &end2)
std::map< std::string, fcl::Vec3f > contactPositions_
Definition: heuristic-tools.hh:15
bool contains(const std::vector< T > &vect, const T &val)
Function to verify the existence of an element in a std::vector.
Definition: heuristic-tools.hh:60
Definition: algorithm.hh:27
Plane()
Definition: heuristic-tools.hh:78
Defines a parameters set for the ZMP-based heuristic.
Definition: heuristic-tools.hh:13
fcl::Vec3f comPosition_
Definition: heuristic-tools.hh:16
Vec2D(const Vec2D &c2D)
Definition: heuristic-tools.hh:48
fcl::Vec3f transform(const fcl::Vec3f &p, const fcl::Vec3f &tr, const fcl::Matrix3f &ro)
std::ostream & operator<<(std::ostream &out, const Vec2D &v)
Vec2D weightedCentroidConvex2D(const std::vector< Vec2D > &convexPolygon)
core::PathConstPtr_t comPath_
Definition: heuristic-tools.hh:21
fcl::Vec3f comSpeed_
Definition: heuristic-tools.hh:17
std::vector< Vec2D > convexHull(std::vector< Vec2D > set)
HeuristicParam()
Definition: heuristic-tools.hh:25
Plane(const Plane &pe)
Definition: heuristic-tools.hh:80
Plane(double aa, double bb, double cc, double dd)
Definition: heuristic-tools.hh:79
fcl::Transform3f tfWorldRoot_
Definition: heuristic-tools.hh:20
Vec2D(double xx, double yy)
Definition: heuristic-tools.hh:47
bool operator==(const Vec2D &v1, const Vec2D &v2)
fcl::Vec3f comAcceleration_
Definition: heuristic-tools.hh:18
double x
Definition: heuristic-tools.hh:44
double c
Definition: heuristic-tools.hh:76
Point center(CIT_Point pointsBegin, CIT_Point pointsEnd)
center compute the center using average method
std::string sampleLimbName_
Definition: heuristic-tools.hh:19
double currentPathId_
Definition: heuristic-tools.hh:22
Data structure to define a plane corresponding to the following equation : ax + by + cz + d = 0...
Definition: heuristic-tools.hh:72
bool operator!=(const Vec2D &v1, const Vec2D &v2)
double y
Definition: heuristic-tools.hh:45
Data structure to store 2-dimensional informations (2D vectors)
Definition: heuristic-tools.hh:42
double d
Definition: heuristic-tools.hh:77
fcl::Vec3f limbReferenceOffset_
Definition: heuristic-tools.hh:23
Vec2D()
Definition: heuristic-tools.hh:46
std::vector< Vec2D > computeSupportPolygon(const std::map< std::string, fcl::Vec3f > &contactPositions)