hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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#include <iostream>
#include <hpp/core/config-validation.hh>
#include <hpp/pinocchio/joint.hh>
#include <hpp/rbprm/config.hh>
#include <hpp/pinocchio/collision-object.hh>
#include <hpp/pinocchio/frame.hh>
#include <Eigen/Core>
Go to the source code of this file.
Namespaces | |
hpp | |
hpp::tools | |
hpp::tools::io | |
Some io tools for serialization. | |
Functions | |
Eigen::Matrix3d | hpp::tools::GetRotationMatrix (const Eigen::Vector3d &from, const Eigen::Vector3d &to) |
Uses Rodriguez formula to find transformation between two vectors. More... | |
fcl::Matrix3f | hpp::tools::GetZRotMatrix (const core::value_type theta) |
fcl::Matrix3f | hpp::tools::GetYRotMatrix (const core::value_type theta) |
fcl::Matrix3f | hpp::tools::GetXRotMatrix (const core::value_type theta) |
pinocchio::Configuration_t | hpp::tools::interpolate (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2, const pinocchio::value_type &u) |
pinocchio::value_type | hpp::tools::distance (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2) |
template<typename K , typename V > | |
void | hpp::tools::addToMap (const K &key, const V &value) |
template<typename T > | |
bool | hpp::tools::insertIfNew (std::vector< T > &data, const T &value) |
template<typename T > | |
void | hpp::tools::RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const core::ObjectStdVector_t &obstacles) |
template<typename T > | |
void | hpp::tools::RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const pinocchio::CollisionObjectPtr_t obstacle) |
template<typename T > | |
void | hpp::tools::RemoveEffectorCollisionRec (T &validation, pinocchio::JointPtr_t joint, const pinocchio::CollisionObjectPtr_t obstacle) |
void | hpp::tools::LockJointRec (const std::string &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector) |
void | hpp::tools::LockJointRec (const std::vector< std::string > &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector) |
void | hpp::tools::LockJoint (const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector, const bool constant=true) |
double | hpp::tools::io::StrToD (const std::string &str) |
int | hpp::tools::io::StrToI (const std::string &str) |
double | hpp::tools::io::StrToD (std::ifstream &input) |
int | hpp::tools::io::StrToI (std::ifstream &input) |
std::vector< std::string > | hpp::tools::io::splitString (const std::string &s, const char sep) |
void | hpp::tools::io::writeMatrix (const Eigen::MatrixXd &mat, std::ostream &output) |
void | hpp::tools::io::writeVecFCL (const fcl::Vec3f &vec, std::ostream &output) |
void | hpp::tools::io::writeRotMatrixFCL (const fcl::Matrix3f &mat, std::ostream &output) |
Eigen::MatrixXd | hpp::tools::io::readMatrix (std::ifstream &myfile) |
fcl::Matrix3f | hpp::tools::io::readRotMatrixFCL (std::ifstream &myfile) |
fcl::Vec3f | hpp::tools::io::readVecFCL (std::ifstream &myfile) |
Eigen::MatrixXd | hpp::tools::io::readMatrix (std::ifstream &myfile, std::string &line) |
fcl::Matrix3f | hpp::tools::io::readRotMatrixFCL (std::ifstream &myfile, std::string &line) |
fcl::Vec3f | hpp::tools::io::readVecFCL (std::ifstream &myfile, std::string &line) |
template<typename T > | |
void | hpp::tools::addLimbCollisionRec (pinocchio::JointPtr_t joint, const pinocchio::Frame &effector, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation, const bool disableEffectorCollision) |
template<typename T > | |
void | hpp::tools::RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::string &limbname, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation) |
template<typename T > | |
void | hpp::tools::RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::vector< std::string > &keepers, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation) |
template<typename K , typename V > | |
void | hpp::tools::addToMap (std::map< K, V > &map, const K &key, const V &value) |