hpp-rbprm  4.10.1
Implementation of RB-PRM planner using hpp.
algorithm.hh
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1 // 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-wholebody-step-planner 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-wholebody-step-planner. If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_ALGORITHM_HH
20 #define HPP_RBPRM_ALGORITHM_HH
21 
22 #include <hpp/rbprm/reports.hh>
24 
25 #include <queue>
26 
27 namespace hpp {
28 namespace rbprm {
29 namespace contact {
30 
39 
54  pinocchio::ConfigurationIn_t configuration,
55  const affMap_t& affordances,
56  const std::map<std::string, std::vector<std::string> >& affFilters,
57  const fcl::Vec3f& direction, const double robustnessTreshold = 0,
58  const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0));
59 
79  pinocchio::ConfigurationIn_t configuration, const affMap_t& affordances,
80  const std::map<std::string, std::vector<std::string> >& affFilters, const fcl::Vec3f& direction,
81  const double robustnessTreshold = 0, const fcl::Vec3f& acceleration = fcl::Vec3f(0, 0, 0),
82  const core::PathConstPtr_t& comPath = core::PathPtr_t(), const double currentPathId = 0,
83  const bool testReachability = true, const bool quasiStatic = false);
84 
85 } // namespace contact
86 } // namespace rbprm
87 } // namespace hpp
88 #endif // HPP_RBPRM_ALGORITHM_HH
hpp::rbprm::contact::ContactGenHelper
Definition: contact_generation.hh:35
hpp::rbprm::contact::oneStep
ContactReport HPP_RBPRM_DLLAPI oneStep(ContactGenHelper &helper)
hpp::rbprm::contact::ContactReport
Definition: reports.hh:50
contact_generation.hh
hpp
Definition: algorithm.hh:27
hpp::rbprm::contact::ComputeContacts
hpp::rbprm::State HPP_RBPRM_DLLAPI ComputeContacts(const hpp::rbprm::RbPrmFullBodyPtr_t &body, pinocchio::ConfigurationIn_t configuration, const affMap_t &affordances, const std::map< std::string, std::vector< std::string > > &affFilters, const fcl::Vec3f &direction, const double robustnessTreshold=0, const fcl::Vec3f &acceleration=fcl::Vec3f(0, 0, 0))
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::affMap_t
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
reports.hh
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64