hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
kinematics_constraints.hh
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1 #ifndef HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
2 #define HPP_RBPRM_KINEMATICS_CONSTRAINTS_HH
3 
6 #include <hpp/pinocchio/configuration.hh>
8 namespace hpp {
9  namespace rbprm {
10 
11  HPP_PREDEF_CLASS(RbPrmFullBody);
13  typedef boost::shared_ptr <RbPrmFullBody> RbPrmFullBodyPtr_t;
14 
15  namespace reachability{
16 
17 
24 std::pair<MatrixX3, MatrixX3> loadConstraintsFromObj(const std::string& fileName, double minDistance = 0.);
25 
26 std::pair<MatrixX3, VectorX> computeAllKinematicsConstraints(const RbPrmFullBodyPtr_t& fullBody,const pinocchio::ConfigurationPtr_t& configuration);
27 
28 std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForState(const RbPrmFullBodyPtr_t& fullBody, const State& state);
29 
30 std::pair<MatrixX3, VectorX> computeKinematicsConstraintsForLimb(const RbPrmFullBodyPtr_t& fullBody, const State& state,const std::string& limbName);
31 
32 std::pair<MatrixX3, VectorX> getInequalitiesAtTransform(const std::pair<MatrixX3, MatrixX3>& NV, const hpp::pinocchio::Transform3f& transform);
33 
34 bool verifyKinematicConstraints(const std::pair<MatrixX3, VectorX>& Ab, const fcl::Vec3f& point);
35 
36 bool verifyKinematicConstraints(const std::pair<MatrixX3, MatrixX3>& NV, const hpp::pinocchio::Transform3f& transform, const fcl::Vec3f& point);
37 
38 
39 bool verifyKinematicConstraints(const RbPrmFullBodyPtr_t& fullbody,const State& state, fcl::Vec3f point);
40 
41 }
42 }
43 }
44 
45 #endif // KINEMATICS_CONSTRAINTS_HH
rbprm-limb.hh
hpp::rbprm::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(RbPrmFullBody)
rbprm-state.hh
hpp::rbprm::reachability::computeAllKinematicsConstraints
std::pair< MatrixX3, VectorX > computeAllKinematicsConstraints(const RbPrmFullBodyPtr_t &fullBody, const pinocchio::ConfigurationPtr_t &configuration)
hpp::rbprm::reachability::getInequalitiesAtTransform
std::pair< MatrixX3, VectorX > getInequalitiesAtTransform(const std::pair< MatrixX3, MatrixX3 > &NV, const hpp::pinocchio::Transform3f &transform)
hpp
Definition: algorithm.hh:27
hpp::rbprm::RbPrmFullBody
Definition: rbprm-fullbody.hh:50
hpp::rbprm::reachability::verifyKinematicConstraints
bool verifyKinematicConstraints(const std::pair< MatrixX3, VectorX > &Ab, const fcl::Vec3f &point)
hpp::rbprm::reachability::loadConstraintsFromObj
std::pair< MatrixX3, MatrixX3 > loadConstraintsFromObj(const std::string &fileName, double minDistance=0.)
loadConstraintsFromObj load the obj file and compute a list of normal and vertex position from it
hpp::rbprm::State
Definition: rbprm-state.hh:40
hpp::rbprm::RbPrmFullBodyPtr_t
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
hpp::rbprm::sampling::transform
fcl::Vec3f transform(const fcl::Vec3f &p, const fcl::Vec3f &tr, const fcl::Matrix3f &ro)
hpp::rbprm::reachability::computeKinematicsConstraintsForLimb
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForLimb(const RbPrmFullBodyPtr_t &fullBody, const State &state, const std::string &limbName)
hpp::rbprm::reachability::computeKinematicsConstraintsForState
std::pair< MatrixX3, VectorX > computeKinematicsConstraintsForState(const RbPrmFullBodyPtr_t &fullBody, const State &state)