hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/rbprm-fullbody.hh>
#include <hpp/rbprm/rbprm-state.hh>
#include <hpp/rbprm/reports.hh>
Go to the source code of this file.
Namespaces | |
hpp | |
hpp::rbprm | |
hpp::rbprm::projection | |
Functions | |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::projectToRootPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::projectToComPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::projectToColFreeComPosition (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::projectToRootConfiguration (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State ¤tState, const Vector3 offset=Vector3::Zero()) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::setCollisionFree (hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State ¤tState) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::projectStateToObstacle (const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State ¤t, const fcl::Vec3f &normal, const fcl::Vec3f &position, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero()) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::projectStateToObstacle (const hpp::rbprm::RbPrmFullBodyPtr_t &body, const std::string &limbId, const hpp::rbprm::RbPrmLimbPtr_t &limb, const hpp::rbprm::State ¤t, const fcl::Vec3f &normal, const fcl::Vec3f &position, core::CollisionValidationPtr_t validation, bool lockOtherJoints=false, const fcl::Matrix3f &rotation=fcl::Matrix3f::Zero()) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::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 ¤t) |
ProjectionReport HPP_RBPRM_DLLAPI | hpp::rbprm::projection::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 ¤t) |
fcl::Transform3f HPP_RBPRM_DLLAPI | hpp::rbprm::projection::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()) |