hpp-rbprm
4.10.1
Implementation of RB-PRM planner using hpp.
|
Go to the documentation of this file.
19 #ifndef HPP_RBPRM_PROJECTION_HH
20 #define HPP_RBPRM_PROJECTION_HH
28 namespace projection {
38 const fcl::Vec3f& target,
47 const fcl::Vec3f& target,
56 const fcl::Vec3f& target,
68 const pinocchio::ConfigurationIn_t conf,
70 const Vector3 offset = Vector3::Zero());
77 const core::CollisionValidationPtr_t& validation,
81 const std::string& limbId,
84 const fcl::Vec3f& position,
bool lockOtherJoints =
false,
85 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
90 const fcl::Vec3f& normal,
const fcl::Vec3f& position, core::CollisionValidationPtr_t validation,
91 bool lockOtherJoints =
false,
const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
101 pinocchio::ConfigurationOut_t configuration,
const fcl::Matrix3f& rotationTarget, std::vector<bool> rotationFilter,
102 const fcl::Vec3f& positionTarget,
const fcl::Vec3f& normal,
const hpp::rbprm::State& current);
106 const pinocchio::ConfigurationIn_t configuration,
107 const fcl::Vec3f& normal,
const fcl::Vec3f& position,
108 const fcl::Matrix3f& rotation = fcl::Matrix3f::Zero());
113 #endif // HPP_RBPRM_PROJECTION_HH
boost::shared_ptr< RbPrmLimb > RbPrmLimbPtr_t
Definition: rbprm-limb.hh:41
Definition: sample-db.hh:37
Eigen::Matrix< pinocchio::value_type, 3, 1 > Vector3
Definition: rbprm-limb.hh:48
ProjectionReport HPP_RBPRM_DLLAPI setCollisionFree(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const core::CollisionValidationPtr_t &validation, const std::string &limb, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI 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 projectToColFreeComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI 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)
Definition: algorithm.hh:27
fcl::Transform3f HPP_RBPRM_DLLAPI 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())
ProjectionReport HPP_RBPRM_DLLAPI 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 projectToRootPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState)
Definition: rbprm-state.hh:40
boost::shared_ptr< RbPrmFullBody > RbPrmFullBodyPtr_t
Definition: kinematics_constraints.hh:12
ProjectionReport HPP_RBPRM_DLLAPI projectToComPosition(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const fcl::Vec3f &target, const hpp::rbprm::State ¤tState)
ProjectionReport HPP_RBPRM_DLLAPI projectToRootConfiguration(hpp::rbprm::RbPrmFullBodyPtr_t fullBody, const pinocchio::ConfigurationIn_t conf, const hpp::rbprm::State ¤tState, const Vector3 offset=Vector3::Zero())
Definition: reports.hh:37
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64