hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
reachability.hh
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1 #ifndef HPP_RBPRM_REACHABILITY_HH
2 #define HPP_RBPRM_REACHABILITY_HH
3 
5 #include <hpp/centroidal-dynamics/centroidal_dynamics.hh>
8 #include <hpp/core/path.hh>
9 namespace hpp {
10  namespace rbprm {
11 
12  HPP_PREDEF_CLASS(RbPrmFullBody);
13  class RbPrmFullBody;
14  typedef boost::shared_ptr <RbPrmFullBody> RbPrmFullBodyPtr_t;
15 
16 
17  namespace reachability{
18 
19 
20  enum Status{
30  };
31 
32  struct Result{
33 
34  Result():
36  x(fcl::Vec3f::Zero()),
37  xBreak_(fcl::Vec3f::Zero()),
38  xCreate_(fcl::Vec3f::Zero()),
39  constraints_(),
40  path_()
41  {}
42 
44  status(status),
45  x(fcl::Vec3f::Zero()),
46  xBreak_(fcl::Vec3f::Zero()),
47  xCreate_(fcl::Vec3f::Zero()),
48  constraints_(),
49  path_()
50  {}
51 
52  Result(Status status, fcl::Vec3f x):
53  status(status),
54  x(x),
55  xBreak_(fcl::Vec3f::Zero()),
56  xCreate_(fcl::Vec3f::Zero()),
57  constraints_(),
58  path_()
59  {}
60 
62 
63  bool pathExist(){
64  if(path_){
65  if (path_->length() > 0){
66  return true;
67  }
68  }
69  return false;
70  }
71 
73  fcl::Vec3f x;
74  fcl::Vec3f xBreak_;
75  fcl::Vec3f xCreate_;
76  std::pair<MatrixXX, VectorX> constraints_;
77  core::PathPtr_t path_;
79  std::vector<core::PathPtr_t> pathPerPhases_;
80  };
81 
82 
83 std::pair<MatrixXX, VectorX> stackConstraints(const std::pair<MatrixXX, VectorX> &Ab, const std::pair<MatrixXX, VectorX> &Cd);
84 
85 bool intersectionExist(const std::pair<MatrixXX, VectorX>& Ab, const fcl::Vec3f& c, fcl::Vec3f &c_out);
86 
87 std::pair<MatrixXX, VectorX> computeStabilityConstraints(const centroidal_dynamics::Equilibrium& contactPhase,const fcl::Vec3f& int_point = fcl::Vec3f(0,0,0),const fcl::Vec3f& acc = fcl::Vec3f(0,0,0));
88 
89 std::pair<MatrixXX, VectorX> computeStabilityConstraintsForState(const RbPrmFullBodyPtr_t& fullbody, State &state, bool &success, const fcl::Vec3f &acc);
90 
91 std::pair<MatrixXX, VectorX> computeConstraintsForState(const RbPrmFullBodyPtr_t& fullbody, State &state,bool& success);
92 
103 Result isReachable(const RbPrmFullBodyPtr_t& fullbody,State &previous, State& next,const fcl::Vec3f& acc = fcl::Vec3f::Zero(), bool useIntermediateState = false);
104 
105 Result isReachableDynamic(const RbPrmFullBodyPtr_t& fullbody, State &previous, State& next, bool tryQuasiStatic = true, std::vector<double> timings = std::vector<double>(), int numPointsPerPhases = 0);
106 
107 
108 
109 }
110 }
111 }
112 #endif // REACHABILITY_HH
rbprm-limb.hh
hpp::rbprm::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(RbPrmFullBody)
hpp::rbprm::reachability::Result::timings_
VectorX timings_
Definition: reachability.hh:78
hpp::rbprm::reachability::CONTACT_CREATION_FAILED
@ CONTACT_CREATION_FAILED
Definition: reachability.hh:27
hpp::rbprm::reachability::Result::pathExist
bool pathExist()
Definition: reachability.hh:63
hpp::rbprm::reachability::computeStabilityConstraints
std::pair< MatrixXX, VectorX > computeStabilityConstraints(const centroidal_dynamics::Equilibrium &contactPhase, const fcl::Vec3f &int_point=fcl::Vec3f(0, 0, 0), const fcl::Vec3f &acc=fcl::Vec3f(0, 0, 0))
hpp::rbprm::reachability::isReachableDynamic
Result isReachableDynamic(const RbPrmFullBodyPtr_t &fullbody, State &previous, State &next, bool tryQuasiStatic=true, std::vector< double > timings=std::vector< double >(), int numPointsPerPhases=0)
kinematics_constraints.hh
rbprm-state.hh
hpp::rbprm::reachability::NO_CONTACT_VARIATION
@ NO_CONTACT_VARIATION
Definition: reachability.hh:25
hpp::rbprm::reachability::TOO_MANY_CONTACTS_VARIATION
@ TOO_MANY_CONTACTS_VARIATION
Definition: reachability.hh:24
hpp::rbprm::reachability::Status
Status
Definition: reachability.hh:20
hpp::rbprm::reachability::stackConstraints
std::pair< MatrixXX, VectorX > stackConstraints(const std::pair< MatrixXX, VectorX > &Ab, const std::pair< MatrixXX, VectorX > &Cd)
hpp::rbprm::reachability::CONTACT_BREAK_FAILED
@ CONTACT_BREAK_FAILED
Definition: reachability.hh:26
hpp::rbprm::VectorX
Eigen::Matrix< pinocchio::value_type, Eigen::Dynamic, 1 > VectorX
Definition: rbprm-limb.hh:49
hpp::rbprm::reachability::SAME_ROOT_POSITION
@ SAME_ROOT_POSITION
Definition: reachability.hh:23
hpp::rbprm::reachability::Result::xCreate_
fcl::Vec3f xCreate_
Definition: reachability.hh:75
hpp::rbprm::reachability::Result::Result
Result(Status status)
Definition: reachability.hh:43
hpp::rbprm::reachability::Result::constraints_
std::pair< MatrixXX, VectorX > constraints_
Definition: reachability.hh:76
hpp::rbprm::reachability::UNABLE_TO_COMPUTE
@ UNABLE_TO_COMPUTE
Definition: reachability.hh:22
hpp::rbprm::reachability::Result::Result
Result()
Definition: reachability.hh:34
hpp
Definition: algorithm.hh:27
hpp::rbprm::reachability::Result
Definition: reachability.hh:32
hpp::rbprm::reachability::intersectionExist
bool intersectionExist(const std::pair< MatrixXX, VectorX > &Ab, const fcl::Vec3f &c, fcl::Vec3f &c_out)
hpp::rbprm::reachability::Result::success
bool success()
Definition: reachability.hh:61
hpp::rbprm::reachability::Result::status
Status status
Definition: reachability.hh:72
hpp::rbprm::reachability::Result::x
fcl::Vec3f x
Definition: reachability.hh:73
hpp::rbprm::reachability::UNREACHABLE
@ UNREACHABLE
Definition: reachability.hh:21
hpp::rbprm::reachability::Result::Result
Result(Status status, fcl::Vec3f x)
Definition: reachability.hh:52
hpp::rbprm::reachability::QUASI_STATIC
@ QUASI_STATIC
Definition: reachability.hh:28
hpp::rbprm::reachability::isReachable
Result isReachable(const RbPrmFullBodyPtr_t &fullbody, State &previous, State &next, const fcl::Vec3f &acc=fcl::Vec3f::Zero(), bool useIntermediateState=false)
isReachable Compute the feasibility of the contact transition between the two state,...
hpp::rbprm::reachability::computeStabilityConstraintsForState
std::pair< MatrixXX, VectorX > computeStabilityConstraintsForState(const RbPrmFullBodyPtr_t &fullbody, State &state, bool &success, const fcl::Vec3f &acc)
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::reachability::Result::xBreak_
fcl::Vec3f xBreak_
Definition: reachability.hh:74
hpp::rbprm::reachability::Result::pathPerPhases_
std::vector< core::PathPtr_t > pathPerPhases_
Definition: reachability.hh:79
hpp::rbprm::reachability::Result::path_
core::PathPtr_t path_
Definition: reachability.hh:77
hpp::rbprm::reachability::computeConstraintsForState
std::pair< MatrixXX, VectorX > computeConstraintsForState(const RbPrmFullBodyPtr_t &fullbody, State &state, bool &success)
hpp::rbprm::reachability::REACHABLE
@ REACHABLE
Definition: reachability.hh:29