hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/sampling/sample-db.hh>
Public Member Functions | |
SampleDB (std::ifstream &databaseStream, bool loadValues=true) | |
SampleDB (const pinocchio::JointPtr_t limb, const std::string &effector, const std::size_t nbSamples, const fcl::Vec3f &offset=fcl::Vec3f(0, 0, 0), const fcl::Vec3f &limbOffset=fcl::Vec3f(0, 0, 0), const double resolution=0.1, const T_evaluate &data=T_evaluate(), const std::string &staticValue="") | |
~SampleDB () | |
Public Attributes | |
double | resolution_ |
T_Sample | samples_ |
boost::shared_ptr< const octomap::OcTree > | octomapTree_ |
fcl::OcTree * | octree_ |
boost::shared_ptr< fcl::CollisionGeometry > | geometry_ |
T_Values | values_ |
T_ValueBound | valueBounds_ |
T_VoxelSampleId | samplesInVoxels_ |
fcl::CollisionObject | treeObject_ |
fcl collision object used for collisions with environment More... | |
std::map< std::size_t, fcl::CollisionObject * > | boxes_ |
Bounding boxes of areas of interest of the octree. More... | |
Sample configuration for a robot limb, stored in an octree and used for proximity requests for contact creation. assumes that joints are compact, ie they all are consecutive in configuration.
hpp::rbprm::sampling::SampleDB::SampleDB | ( | std::ifstream & | databaseStream, |
bool | loadValues = true |
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hpp::rbprm::sampling::SampleDB::SampleDB | ( | const pinocchio::JointPtr_t | limb, |
const std::string & | effector, | ||
const std::size_t | nbSamples, | ||
const fcl::Vec3f & | offset = fcl::Vec3f(0, 0, 0) , |
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const fcl::Vec3f & | limbOffset = fcl::Vec3f(0, 0, 0) , |
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const double | resolution = 0.1 , |
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const T_evaluate & | data = T_evaluate() , |
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const std::string & | staticValue = "" |
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) |
hpp::rbprm::sampling::SampleDB::~SampleDB | ( | ) |
std::map<std::size_t, fcl::CollisionObject*> hpp::rbprm::sampling::SampleDB::boxes_ |
Bounding boxes of areas of interest of the octree.
boost::shared_ptr<fcl::CollisionGeometry> hpp::rbprm::sampling::SampleDB::geometry_ |
boost::shared_ptr<const octomap::OcTree> hpp::rbprm::sampling::SampleDB::octomapTree_ |
fcl::OcTree* hpp::rbprm::sampling::SampleDB::octree_ |
double hpp::rbprm::sampling::SampleDB::resolution_ |
T_Sample hpp::rbprm::sampling::SampleDB::samples_ |
T_VoxelSampleId hpp::rbprm::sampling::SampleDB::samplesInVoxels_ |
fcl::CollisionObject hpp::rbprm::sampling::SampleDB::treeObject_ |
fcl collision object used for collisions with environment
T_ValueBound hpp::rbprm::sampling::SampleDB::valueBounds_ |
T_Values hpp::rbprm::sampling::SampleDB::values_ |