17 #ifndef HPP_RBPRM_SHOOTER_HH
18 #define HPP_RBPRM_SHOOTER_HH
23 #include <hpp/core/problem-solver.hh>
24 #include <hpp/pinocchio/joint.hh>
26 #include <hpp/core/configuration-shooter.hh>
38 typedef hpp::core::Container<hpp::core::AffordanceObjects_t>
affMap_t;
64 const core::ObjectStdVector_t& geometries,
66 const std::vector<std::string>& filter = std::vector<std::string>(),
67 const std::map<std::string, std::vector<std::string> >& affFilters =
68 std::map<std::string, std::vector<std::string> >(),
69 const std::size_t shootLimit = 10000,
70 const std::size_t displacementLimit = 100);
78 void BoundSO3(
const std::vector<double>& limitszyx);
80 void sampleExtraDOF(
bool sampleExtraDOF);
95 const affMap_t& affordances,
const std::vector<std::string>& filter,
96 const std::map<std::string, std::vector<std::string> >& affFilters,
97 const std::size_t shootLimit = 10000,
const std::size_t displacementLimit = 100);
101 virtual void impl_shoot(core::Configuration_t& q)
const;
104 void InitWeightedTriangles(
const core::ObjectStdVector_t& geometries);
108 core::Configuration_t& config,
const fcl::Vec3f p)
const;
111 std::vector<double> weights_;
112 std::vector<T_TriangleNormal> triangles_;
115 core::configurationShooter::UniformPtr_t uniformShooter_;
116 double ratioWeighted_;
117 RbPrmShooterWkPtr_t weak_;
119 std::vector<double> eulerSo3_;
124 #endif // HPP_RBPRM_SHOOTER_HH