hpp-rbprm
4.10.0
Implementation of RB-PRM planner using hpp.
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19 #ifndef HPP_RBPRM_DYNAMIC_VALIDATION_HH
20 # define HPP_RBPRM_DYNAMIC_VALIDATION_HH
22 # include <hpp/core/config-validation.hh>
23 # include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
38 ValidationReport (),
acc_(acc)
42 virtual std::ostream&
print (std::ostream& os)
const
44 os <<
"Acceleration "<<
acc_.transpose()<<
" invalid with current contacts.";
59 static DynamicValidationPtr_t create (
bool rectangularContact,
double sizeFootX,
double sizeFootY,
double mass,
double mu,core::DevicePtr_t robot);
69 virtual bool validate (
const core::Configuration_t& config, core::ValidationReportPtr_t& validationReport);
76 DynamicValidation (
bool rectangularContact,
double sizeFootX,
double sizeFootY,
double mass,
double mu,core::DevicePtr_t robot);
78 bool rectangularContact_;
84 centroidal_dynamics::Equilibrium* sEq_;
87 core::Configuration_t lastAcc_;
96 #endif // HPP_RBPRM_DYNAMIC_VALIDATION_HH
HPP_PREDEF_CLASS(RbPrmFullBody)
static DynamicValidationPtr_t create(bool rectangularContact, double sizeFootX, double sizeFootY, double mass, double mu, core::DevicePtr_t robot)
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:50
virtual bool validate(const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport)
void setInitialReport(core::ValidationReportPtr_t initialReport)
boost::shared_ptr< DynamicValidation > DynamicValidationPtr_t
Definition: dynamic-validation.hh:54
virtual std::ostream & print(std::ostream &os) const
Print report in a stream.
Definition: dynamic-validation.hh:42
DynamicValidation(bool rectangularContact, double sizeFootX, double sizeFootY, double mass, double mu, core::DevicePtr_t robot)
centroidal_dynamics::Matrix63 Matrix63
Definition: rbprm-node.hh:21
Definition: algorithm.hh:27
boost::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
Definition: rbprm-device.hh:44
centroidal_dynamics::Vector6 Vector6
Definition: rbprm-node.hh:22
DynamicValidationReport(centroidal_dynamics::Vector3 acc)
Definition: dynamic-validation.hh:37
boost::shared_ptr< RbprmValidationReport > RbprmValidationReportPtr_t
Definition: rbprm-validation-report.hh:29
Exception thrown when a configuration is not within the bounds.
Definition: dynamic-validation.hh:34
centroidal_dynamics::Vector3 acc_
Definition: dynamic-validation.hh:48
Definition: dynamic-validation.hh:56