hpp-rbprm  4.10.1
Implementation of RB-PRM planner using hpp.
hpp::rbprm::interpolation::RbPrmInterpolation Class Reference

#include <hpp/rbprm/interpolation/rbprm-path-interpolation.hh>

Collaboration diagram for hpp::rbprm::interpolation::RbPrmInterpolation:

Public Member Functions

 ~RbPrmInterpolation ()
 
rbprm::T_StateFrame Interpolate (const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const double timeStep=0.01, const double robustnessTreshold=0., const bool filterStates=false)
 
rbprm::T_StateFrame Interpolate (const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const T_Configuration &configs, const double robustnessTreshold=0., const pinocchio::value_type timeStep=1., const pinocchio::value_type initValue=0., const bool filterStates=false)
 
core::Configuration_t configPosition (core::ConfigurationIn_t previous, const core::PathVectorConstPtr_t path, double i)
 
rbprm::T_StateFrame addGoalConfig (const rbprm::T_StateFrame &states)
 addGoalConfig add goal configuration (end_state) at the end of a states list. Modify the last state (or add intermediate states) in the list to assure that there is only one contact variation between each states. More...
 
rbprm::T_StateFrame addGoalConfigRec (const rbprm::T_StateFrame &states, const std::vector< std::string > variations)
 

Static Public Member Functions

static RbPrmInterpolationPtr_t create (const RbPrmFullBodyPtr_t robot, const State &start, const State &end, const core::PathVectorConstPtr_t path=core::PathVectorConstPtr_t(), const bool testReachability=true, const bool quasiStatic=false)
 

Public Attributes

const core::PathVectorConstPtr_t path_
 
const State start_
 
const State end_
 
bool testReachability_
 
bool quasiStatic_
 

Protected Member Functions

 RbPrmInterpolation (const core::PathVectorConstPtr_t path, const RbPrmFullBodyPtr_t robot, const State &start, const State &end, const bool testReachability=true, const bool quasiStatic=false)
 
void init (const RbPrmInterpolationWkPtr_t &weakPtr)
 Initialization. More...
 

Constructor & Destructor Documentation

◆ ~RbPrmInterpolation()

hpp::rbprm::interpolation::RbPrmInterpolation::~RbPrmInterpolation ( )

◆ RbPrmInterpolation()

hpp::rbprm::interpolation::RbPrmInterpolation::RbPrmInterpolation ( const core::PathVectorConstPtr_t  path,
const RbPrmFullBodyPtr_t  robot,
const State start,
const State end,
const bool  testReachability = true,
const bool  quasiStatic = false 
)
protected

Member Function Documentation

◆ addGoalConfig()

rbprm::T_StateFrame hpp::rbprm::interpolation::RbPrmInterpolation::addGoalConfig ( const rbprm::T_StateFrame states)

addGoalConfig add goal configuration (end_state) at the end of a states list. Modify the last state (or add intermediate states) in the list to assure that there is only one contact variation between each states.

Parameters
states
Returns
the input list with the last states modified and the goal state added

◆ addGoalConfigRec()

rbprm::T_StateFrame hpp::rbprm::interpolation::RbPrmInterpolation::addGoalConfigRec ( const rbprm::T_StateFrame states,
const std::vector< std::string >  variations 
)

◆ configPosition()

core::Configuration_t hpp::rbprm::interpolation::RbPrmInterpolation::configPosition ( core::ConfigurationIn_t  previous,
const core::PathVectorConstPtr_t  path,
double  i 
)

◆ create()

static RbPrmInterpolationPtr_t hpp::rbprm::interpolation::RbPrmInterpolation::create ( const RbPrmFullBodyPtr_t  robot,
const State start,
const State end,
const core::PathVectorConstPtr_t  path = core::PathVectorConstPtr_t(),
const bool  testReachability = true,
const bool  quasiStatic = false 
)
static

Creates a smart pointer to the Interpolation class

Parameters
paththe path returned by RB-PRM computation
robotthe FullBody instance considered for extending the part
startthe start full body configuration of the problem
endthe end full body configuration of the problem
Returns
a pointer to the created RbPrmInterpolation instance

◆ init()

void hpp::rbprm::interpolation::RbPrmInterpolation::init ( const RbPrmInterpolationWkPtr_t &  weakPtr)
protected

Initialization.

◆ Interpolate() [1/2]

rbprm::T_StateFrame hpp::rbprm::interpolation::RbPrmInterpolation::Interpolate ( const affMap_t affordances,
const std::map< std::string, std::vector< std::string > > &  affFilters,
const double  timeStep = 0.01,
const double  robustnessTreshold = 0.,
const bool  filterStates = false 
)

Transforms the path computed by RB-PRM into a discrete sequence of balanced contact configurations.

Parameters
affordancesthe set of 3D objects to consider for contact creation.
affFiltersa vector of strings determining which affordance types are to be used in generating contacts for each limb.
timeStepthe discretization step of the path.
robustnessTresholdminimum value of the static equilibrium robustness criterion required to accept the configuration (0 by default).
Returns
a pointer to the created RbPrmInterpolation instance

◆ Interpolate() [2/2]

rbprm::T_StateFrame hpp::rbprm::interpolation::RbPrmInterpolation::Interpolate ( const affMap_t affordances,
const std::map< std::string, std::vector< std::string > > &  affFilters,
const T_Configuration configs,
const double  robustnessTreshold = 0.,
const pinocchio::value_type  timeStep = 1.,
const pinocchio::value_type  initValue = 0.,
const bool  filterStates = false 
)

Transforms a discrete sequence of configurations into a discrete sequence of balanced contact configurations.

Parameters
affordancesthe set of 3D objects to consider for contact creation.
affFiltersa vector of strings determining which affordance types are to be used in generating contacts for each limb.
configs
timeStepthe discretization step of the path.
initValueinitial time value associated to the first configuration
robustnessTresholdminimum value of the static equilibrium robustness criterion required to accept the configuration (0 by default).
Returns
The time parametrized list of states according to the reference path

Member Data Documentation

◆ end_

const State hpp::rbprm::interpolation::RbPrmInterpolation::end_

◆ path_

const core::PathVectorConstPtr_t hpp::rbprm::interpolation::RbPrmInterpolation::path_

◆ quasiStatic_

bool hpp::rbprm::interpolation::RbPrmInterpolation::quasiStatic_

◆ start_

const State hpp::rbprm::interpolation::RbPrmInterpolation::start_

◆ testReachability_

bool hpp::rbprm::interpolation::RbPrmInterpolation::testReachability_

The documentation for this class was generated from the following file: