#include <hpp/rbprm/interpolation/rbprm-path-interpolation.hh>
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| ~RbPrmInterpolation () |
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rbprm::T_StateFrame | Interpolate (const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const double timeStep=0.01, const double robustnessTreshold=0., const bool filterStates=false) |
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rbprm::T_StateFrame | Interpolate (const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const T_Configuration &configs, const double robustnessTreshold=0., const pinocchio::value_type timeStep=1., const pinocchio::value_type initValue=0., const bool filterStates=false) |
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core::Configuration_t | configPosition (core::ConfigurationIn_t previous, const core::PathVectorConstPtr_t path, double i) |
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rbprm::T_StateFrame | addGoalConfig (const rbprm::T_StateFrame &states) |
| addGoalConfig add goal configuration (end_state) at the end of a states list. Modify the last state (or add intermediate states) in the list to assure that there is only one contact variation between each states. More...
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rbprm::T_StateFrame | addGoalConfigRec (const rbprm::T_StateFrame &states, const std::vector< std::string > variations) |
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◆ ~RbPrmInterpolation()
hpp::rbprm::interpolation::RbPrmInterpolation::~RbPrmInterpolation |
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◆ RbPrmInterpolation()
hpp::rbprm::interpolation::RbPrmInterpolation::RbPrmInterpolation |
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const core::PathVectorConstPtr_t |
path, |
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const RbPrmFullBodyPtr_t |
robot, |
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const State & |
start, |
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const State & |
end, |
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const bool |
testReachability = true , |
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const bool |
quasiStatic = false |
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◆ addGoalConfig()
addGoalConfig add goal configuration (end_state) at the end of a states list. Modify the last state (or add intermediate states) in the list to assure that there is only one contact variation between each states.
- Parameters
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- Returns
- the input list with the last states modified and the goal state added
◆ addGoalConfigRec()
◆ configPosition()
core::Configuration_t hpp::rbprm::interpolation::RbPrmInterpolation::configPosition |
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core::ConfigurationIn_t |
previous, |
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const core::PathVectorConstPtr_t |
path, |
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double |
i |
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◆ create()
static RbPrmInterpolationPtr_t hpp::rbprm::interpolation::RbPrmInterpolation::create |
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const RbPrmFullBodyPtr_t |
robot, |
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const State & |
start, |
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const State & |
end, |
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const core::PathVectorConstPtr_t |
path = core::PathVectorConstPtr_t() , |
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const bool |
testReachability = true , |
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const bool |
quasiStatic = false |
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Creates a smart pointer to the Interpolation class
- Parameters
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path | the path returned by RB-PRM computation |
robot | the FullBody instance considered for extending the part |
start | the start full body configuration of the problem |
end | the end full body configuration of the problem |
- Returns
- a pointer to the created RbPrmInterpolation instance
◆ init()
void hpp::rbprm::interpolation::RbPrmInterpolation::init |
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const RbPrmInterpolationWkPtr_t & |
weakPtr | ) |
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protected |
◆ Interpolate() [1/2]
rbprm::T_StateFrame hpp::rbprm::interpolation::RbPrmInterpolation::Interpolate |
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const affMap_t & |
affordances, |
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const std::map< std::string, std::vector< std::string > > & |
affFilters, |
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const double |
timeStep = 0.01 , |
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const double |
robustnessTreshold = 0. , |
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const bool |
filterStates = false |
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Transforms the path computed by RB-PRM into a discrete sequence of balanced contact configurations.
- Parameters
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affordances | the set of 3D objects to consider for contact creation. |
affFilters | a vector of strings determining which affordance types are to be used in generating contacts for each limb. |
timeStep | the discretization step of the path. |
robustnessTreshold | minimum value of the static equilibrium robustness criterion required to accept the configuration (0 by default). |
- Returns
- a pointer to the created RbPrmInterpolation instance
◆ Interpolate() [2/2]
rbprm::T_StateFrame hpp::rbprm::interpolation::RbPrmInterpolation::Interpolate |
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const affMap_t & |
affordances, |
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const std::map< std::string, std::vector< std::string > > & |
affFilters, |
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const T_Configuration & |
configs, |
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const double |
robustnessTreshold = 0. , |
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const pinocchio::value_type |
timeStep = 1. , |
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const pinocchio::value_type |
initValue = 0. , |
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const bool |
filterStates = false |
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Transforms a discrete sequence of configurations into a discrete sequence of balanced contact configurations.
- Parameters
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affordances | the set of 3D objects to consider for contact creation. |
affFilters | a vector of strings determining which affordance types are to be used in generating contacts for each limb. |
configs | |
timeStep | the discretization step of the path. |
initValue | initial time value associated to the first configuration
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robustnessTreshold | minimum value of the static equilibrium robustness criterion required to accept the configuration (0 by default). |
- Returns
- The time parametrized list of states according to the reference path
◆ end_
const State hpp::rbprm::interpolation::RbPrmInterpolation::end_ |
◆ path_
const core::PathVectorConstPtr_t hpp::rbprm::interpolation::RbPrmInterpolation::path_ |
◆ quasiStatic_
bool hpp::rbprm::interpolation::RbPrmInterpolation::quasiStatic_ |
◆ start_
const State hpp::rbprm::interpolation::RbPrmInterpolation::start_ |
◆ testReachability_
bool hpp::rbprm::interpolation::RbPrmInterpolation::testReachability_ |
The documentation for this class was generated from the following file: