hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
com-rrt.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_COM_RRT_HH
20 # define HPP_RBPRM_COM_RRT_HH
21 
22 # include <hpp/rbprm/config.hh>
24 # include <hpp/rbprm/rbprm-state.hh>
25 # include <hpp/rbprm/rbprm-device.hh>
30 # include <hpp/core/path.hh>
31 # include <hpp/core/problem.hh>
32 # include <hpp/core/config-projector.hh>
33 
34 # include <vector>
35 # include <map>
36 
37 
38 namespace hpp {
39  namespace rbprm {
40  namespace interpolation {
41 
43 
46  {
47  void operator ()(ComRRTHelper& helper, const State& from, const State& to) const;
48  };
49 
50  core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath,
51  const State &startState, const State &nextState,
52  const std::size_t numOptimizations,
53  const bool keepExtraDof=false); // needed because of the definition of t_rrt struct, but problemSolver is not used
54 
55  core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const PathPtr_t comPath,
56  const State &startState, const State &nextState,
57  const std::size_t numOptimizations,
58  const bool keepExtraDof=false);
59 
60  core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath,
61  const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState,
62  const std::size_t numOptimizations);
63 
64  core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody,core::ProblemPtr_t referenceProblem, const State& model, const fcl::Vec3f& targetCom, bool& success);
65 
66  /*typedef std::vector<pinocchio::vector_t,Eigen::aligned_allocator<pinocchio::vector_t> > T_Configuration;
67  core::PathPtr_t generateComTraj(const T_Configuration& configurations, const pinocchio::value_type dt, const pinocchio::ConfigurationIn_t & initSpeed, const pinocchio::ConfigurationIn_t endSpeed);*/
68  }
69  }
70 }
71 
72 
73 #endif // HPP_RBPRM_COM_RRT_HH
com-rrt-shooter.hh
time-constraint-steering.hh
hpp::rbprm::interpolation::SetComRRTConstraints
Definition: com-rrt.hh:45
rbprm-fullbody.hh
rbprm-state.hh
time-constraint-path.hh
rbprm-device.hh
time-constraint-helper.hh
hpp::rbprm::interpolation::SetComRRTConstraints::operator()
void operator()(ComRRTHelper &helper, const State &from, const State &to) const
hpp::rbprm::CIT_StateFrame
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
hpp
Definition: algorithm.hh:27
hpp::rbprm::interpolation::ComRRTHelper
TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > ComRRTHelper
Definition: com-rrt.hh:42
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::interpolation::comRRT
core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
hpp::rbprm::interpolation::comRRTFromPath
core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
config.hh
hpp::rbprm::interpolation::projectOnCom
core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)
hpp::rbprm::interpolation::TimeConstraintHelper
Definition: time-constraint-helper.hh:47