19 #ifndef HPP_RBPRM_ALGORITHM_HH
20 #define HPP_RBPRM_ALGORITHM_HH
54 pinocchio::ConfigurationIn_t configuration,
56 const std::map<std::string, std::vector<std::string> >& affFilters,
57 const fcl::Vec3f& direction,
const double robustnessTreshold = 0,
58 const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0));
79 pinocchio::ConfigurationIn_t configuration,
const affMap_t& affordances,
80 const std::map<std::string, std::vector<std::string> >& affFilters,
const fcl::Vec3f& direction,
81 const double robustnessTreshold = 0,
const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0),
82 const core::PathConstPtr_t& comPath = core::PathPtr_t(),
const double currentPathId = 0,
83 const bool testReachability =
true,
const bool quasiStatic =
false);
88 #endif // HPP_RBPRM_ALGORITHM_HH