hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
projection.hh
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18 
19 #ifndef HPP_RBPRM_PROJECTION_HH
20 # define HPP_RBPRM_PROJECTION_HH
21 
23 # include <hpp/rbprm/rbprm-state.hh>
24 # include <hpp/rbprm/reports.hh>
25 
26 namespace hpp {
27 namespace rbprm {
28 namespace projection{
29 
30 
39  const hpp::rbprm::State& currentState);
40 
47  const hpp::rbprm::State& currentState);
48 
55  const hpp::rbprm::State& currentState);
56 
65 ProjectionReport HPP_RBPRM_DLLAPI projectToRootConfiguration(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf,
66  const hpp::rbprm::State& currentState, const Vector3 offset = Vector3::Zero());
67 
72 ProjectionReport HPP_RBPRM_DLLAPI setCollisionFree(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string& limb, const hpp::rbprm::State& currentState);
73 
74 
76  const hpp::rbprm::State& current, const fcl::Vec3f &normal, const fcl::Vec3f &position,bool lockOtherJoints = false,const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
77 
79  const hpp::rbprm::State& current, const fcl::Vec3f &normal, const fcl::Vec3f &position, core::CollisionValidationPtr_t validation, bool lockOtherJoints = false,const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
80 
82  const sampling::OctreeReport& report, core::CollisionValidationPtr_t validation,
83  pinocchio::ConfigurationOut_t configuration, const hpp::rbprm::State& current);
84 
85 ProjectionReport HPP_RBPRM_DLLAPI projectEffector(core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t& body, const std::string& limbId, const hpp::rbprm::RbPrmLimbPtr_t& limb,
86  core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration,
87  const fcl::Matrix3f& rotationTarget, std::vector<bool> rotationFilter, const fcl::Vec3f& positionTarget, const fcl::Vec3f& normal,
88  const hpp::rbprm::State& current);
89 
90 fcl::Transform3f HPP_RBPRM_DLLAPI computeProjectionMatrix(const hpp::rbprm::RbPrmFullBodyPtr_t& body, const hpp::rbprm::RbPrmLimbPtr_t& limb, const pinocchio::ConfigurationIn_t configuration,
91  const fcl::Vec3f& normal, const fcl::Vec3f& position,const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
92 
93  } // namespace projection
94  } // namespace rbprm
95 } // namespace hpp
96 #endif // HPP_RBPRM_PROJECTION_HH
hpp::rbprm::RbPrmLimbPtr_t
boost::shared_ptr< RbPrmLimb > RbPrmLimbPtr_t
Definition: rbprm-limb.hh:43
hpp::rbprm::sampling::OctreeReport
Definition: sample-db.hh:37
rbprm-fullbody.hh
hpp::rbprm::Vector3
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:50
rbprm-state.hh
hpp::rbprm::projection::setCollisionFree
ProjectionReport HPP_RBPRM_DLLAPI setCollisionFree(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State &currentState)
hpp::rbprm::projection::projectStateToObstacle
ProjectionReport HPP_RBPRM_DLLAPI projectStateToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State &current, const fcl::Vec3f &normal, const fcl::Vec3f &position, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
hpp::rbprm::projection::projectToColFreeComPosition
ProjectionReport HPP_RBPRM_DLLAPI projectToColFreeComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
hpp::rbprm::projection::projectEffector
ProjectionReport HPP_RBPRM_DLLAPI projectEffector(core::ConfigProjectorPtr_t proj, const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const fcl::Matrix3f &rotationTarget, std::vector< bool > rotationFilter, const fcl::Vec3f &positionTarget, const fcl::Vec3f &normal, const hpp::rbprm::State &current)
hpp
Definition: algorithm.hh:27
hpp::rbprm::projection::computeProjectionMatrix
fcl::Transform3f HPP_RBPRM_DLLAPI computeProjectionMatrix(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const hpp::rbprm::RbPrmLimbPtr_t &limb, const pinocchio::ConfigurationIn_t configuration, const fcl::Vec3f &normal, const fcl::Vec3f &position, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero())
hpp::rbprm::projection::projectSampleToObstacle
ProjectionReport HPP_RBPRM_DLLAPI projectSampleToObstacle(const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const sampling::OctreeReport &report, core::CollisionValidationPtr_t validation, pinocchio::ConfigurationOut_t configuration, const hpp::rbprm::State &current)
hpp::rbprm::projection::projectToRootPosition
ProjectionReport HPP_RBPRM_DLLAPI projectToRootPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
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::projection::projectToComPosition
ProjectionReport HPP_RBPRM_DLLAPI projectToComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State &currentState)
hpp::rbprm::projection::projectToRootConfiguration
ProjectionReport HPP_RBPRM_DLLAPI projectToRootConfiguration(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State &currentState, const Vector3 offset=Vector3::Zero())
reports.hh
hpp::rbprm::projection::ProjectionReport
Definition: reports.hh:38
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64