hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_CONTACT_GENERATION_HH
20 # define HPP_RBPRM_CONTACT_GENERATION_HH
31 typedef std::queue<hpp::rbprm::State>
Q_State;
32 typedef std::pair <hpp::rbprm::State, std::vector<std::string> >
ContactState;
38 pinocchio::ConfigurationIn_t configuration,
40 const std::map<std::string, std::vector<std::string> >& affFilters,
41 const double robustnessTreshold = 0,
42 const std::size_t maxContactBreaks = 1,
43 const std::size_t maxContactCreations = 1,
44 const bool checkStabilityMaintain =
false,
45 const bool checkStabilityGenerate =
true,
46 const fcl::Vec3f& direction = fcl::Vec3f(0,0,1),
47 const fcl::Vec3f& acceleration = fcl::Vec3f(0,0,0),
48 const bool contactIfFails =
false,
49 const bool stableForOneContact =
false,
50 const core::PathConstPtr_t& comPath=core::PathConstPtr_t(),
51 const double currentPathId=0);
64 const std::map<std::string, std::vector<std::string> >&
affFilters_;
81 const affMap_t& affordances,
const std::map<std::string, std::vector<std::string> >& affFilters);
132 #endif // HPP_RBPRM_CONTACT_GENERATION_HH
Defines a parameters set for the ZMP-based heuristic.
Definition: heuristic-tools.hh:13
boost::function< double(const SampleDB &sampleDB, const sampling::Sample &sample) > evaluate
Definition: sample-db.hh:75
Definition: algorithm.hh:27
double(* heuristic)(const sampling::Sample &sample, const Eigen::Vector3d &direction, const Eigen::Vector3d &normal, const HeuristicParam ¶ms)
Definition: heuristic.hh:41
Definition: rbprm-state.hh:40
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
HPP_RBPRM_DLLAPI std::vector< std::string > freeEffectors(const State &state, Iter start, Iter end)
Definition: rbprm-state.hh:129
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
Definition: reports.hh:38
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64