19 #ifndef HPP_RBPRM_ALGORITHM_HH
20 # define HPP_RBPRM_ALGORITHM_HH
56 const std::map<std::string, std::vector<std::string> >& affFilters,
const fcl::Vec3f& direction,
57 const double robustnessTreshold = 0,
const fcl::Vec3f& acceleration = fcl::Vec3f(0,0,0));
78 pinocchio::ConfigurationIn_t configuration,
80 const std::map<std::string, std::vector<std::string> >& affFilters,
const fcl::Vec3f& direction,
81 const double robustnessTreshold = 0,
const fcl::Vec3f& acceleration = fcl::Vec3f(0,0,0),
82 const core::PathConstPtr_t& comPath = core::PathPtr_t(),
const double currentPathId=0,
const bool testReachability=
true,
const bool quasiStatic=
false);
88 #endif // HPP_RBPRM_ALGORITHM_HH