hpp-rbprm  4.10.1
Implementation of RB-PRM planner using hpp.
com-rrt.hh
Go to the documentation of this file.
1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau (steve.tonneau@laas.fr)
4 //
5 // This file is part of hpp-rbprm.
6 // hpp-rbprm is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-rbprm is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_COM_RRT_HH
20 #define HPP_RBPRM_COM_RRT_HH
21 
22 #include <hpp/rbprm/config.hh>
24 #include <hpp/rbprm/rbprm-state.hh>
30 #include <hpp/core/path.hh>
31 #include <hpp/core/problem.hh>
32 #include <hpp/core/config-projector.hh>
33 
34 #include <vector>
35 #include <map>
36 
37 namespace hpp {
38 namespace rbprm {
39 namespace interpolation {
40 
42 
45  void operator()(ComRRTHelper& helper, const State& from, const State& to) const;
46 };
47 
48 core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath,
49  const State& startState, const State& nextState, const std::size_t numOptimizations,
50  const bool keepExtraDof =
51  false); // needed because of the definition of t_rrt struct, but problemSolver is not used
52 
53 core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const PathPtr_t comPath,
54  const State& startState, const State& nextState, const std::size_t numOptimizations,
55  const bool keepExtraDof = false);
56 
57 core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver,
58  const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame& startState,
59  const CIT_StateFrame& endState, const std::size_t numOptimizations);
60 
61 core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem,
62  const State& model, const fcl::Vec3f& targetCom, bool& success);
63 
64 /*typedef std::vector<pinocchio::vector_t,Eigen::aligned_allocator<pinocchio::vector_t> > T_Configuration;
65 core::PathPtr_t generateComTraj(const T_Configuration& configurations, const pinocchio::value_type dt, const
66 pinocchio::ConfigurationIn_t & initSpeed, const pinocchio::ConfigurationIn_t endSpeed);*/
67 } // namespace interpolation
68 } // namespace rbprm
69 } // namespace hpp
70 
71 #endif // HPP_RBPRM_COM_RRT_HH
com-rrt-shooter.hh
time-constraint-steering.hh
hpp::rbprm::interpolation::SetComRRTConstraints
Definition: com-rrt.hh:44
rbprm-fullbody.hh
rbprm-state.hh
time-constraint-path.hh
rbprm-device.hh
time-constraint-helper.hh
hpp::rbprm::interpolation::SetComRRTConstraints::operator()
void operator()(ComRRTHelper &helper, const State &from, const State &to) const
hpp::rbprm::CIT_StateFrame
T_StateFrame::const_iterator CIT_StateFrame
Definition: rbprm-state.hh:36
hpp
Definition: algorithm.hh:27
hpp::rbprm::State
Definition: rbprm-state.hh:40
hpp::rbprm::RbPrmFullBodyPtr_t
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
hpp::rbprm::interpolation::comRRT
core::PathPtr_t comRRT(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const State &startState, const State &nextState, const std::size_t numOptimizations, const bool keepExtraDof=false)
hpp::rbprm::interpolation::comRRTFromPath
core::PathPtr_t comRRTFromPath(RbPrmFullBodyPtr_t fullbody, core::ProblemSolverPtr_t problemSolver, const PathPtr_t comPath, const PathPtr_t guidePath, const CIT_StateFrame &startState, const CIT_StateFrame &endState, const std::size_t numOptimizations)
hpp::rbprm::interpolation::ComRRTHelper
TimeConstraintHelper< TimeConstraintPath, ComRRTShooterFactory, SetComRRTConstraints > ComRRTHelper
Definition: com-rrt.hh:41
config.hh
hpp::rbprm::interpolation::projectOnCom
core::Configuration_t projectOnCom(RbPrmFullBodyPtr_t fullbody, core::ProblemPtr_t referenceProblem, const State &model, const fcl::Vec3f &targetCom, bool &success)
hpp::rbprm::interpolation::TimeConstraintHelper
Definition: time-constraint-helper.hh:46