hpp::core::Problem Class Reference

#include <hpp/core/problem.hh>

Collaboration diagram for hpp::core::Problem:

Public Member Functions
	Problem ()
virtual	~Problem ()
virtual void	checkProblem () const
	Check that problem is well formulated. More...
const Parameter &	getParameter (const std::string &name) const
void	setParameter (const std::string &name, const Parameter &value)
Problem definition
const DevicePtr_t &	robot () const
	return shared pointer to robot. More...
const Configuration_t &	initConfig () const
	Get shared pointer to initial configuration. More...
void	initConfig (ConfigurationIn_t inConfig)
	Set initial configuration. More...
void	target (const ProblemTargetPtr_t &target)
	Set the target. More...
const ProblemTargetPtr_t &	target () const
	Get the target. More...
const Configurations_t	goalConfigs () const
void	addGoalConfig (ConfigurationIn_t config)
void	resetGoalConfigs ()
Steering method and distance function
void	steeringMethod (const SteeringMethodPtr_t &sm)
SteeringMethodPtr_t	steeringMethod () const
	Get steering method. More...
void	distance (const DistancePtr_t &distance)
	Set distance between configurations. More...
const DistancePtr_t &	distance () const
	Get distance between configuration. More...
Configuration validation
void	configValidation (const ConfigValidationsPtr_t &configValidations)
const ConfigValidationsPtr_t &	configValidations () const
	Get configuration validation methods. More...
void	clearConfigValidations ()
void	addConfigValidation (const ConfigValidationPtr_t &configValidation)
	Add a config validation method. More...
Path validation
Set path validation method
virtual void	pathValidation (const PathValidationPtr_t &pathValidation)
PathValidationPtr_t	pathValidation () const
	Get path validation method. More...
Configuration shooter
Set configuration shooter method
void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)
ConfigurationShooterPtr_t	configurationShooter () const
	Get path validation method. More...
Path projector
Set path projector method
void	pathProjector (const PathProjectorPtr_t &pathProjector)
PathProjectorPtr_t	pathProjector () const
	Get path projector method. More...
Constraints applicable to the robot
void	constraints (const ConstraintSetPtr_t &constraints)
const ConstraintSetPtr_t &	constraints () const
	Get constraint set. More...
Obstacles
void	addObstacle (const CollisionObjectPtr_t &object)
void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void	filterCollisionPairs ()
void	setSecurityMargins (const matrix_t &securityMatrix)
const ObjectStdVector_t &	collisionObstacles () const
	Vector of objects considered for collision detection. More...
void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)
	Set the vector of objects considered for collision detection. More...

Static Public Member Functions
static ProblemPtr_t	create (DevicePtr_t robot)
static ProblemPtr_t	createCopy (const ProblemConstPtr_t &other)
static void	declareParameter (const ParameterDescription &desc)
static const Container< ParameterDescription > &	parameterDescriptions ()
	Get all the parameter descriptions. More...
static const ParameterDescription &	parameterDescription (const std::string &name)
	Access one parameter description. More...

Public Attributes
Container< Parameter >	parameters

Protected Member Functions
	Problem (DevicePtr_t robot)
	Problem (const Problem &other)=default
void	init (ProblemWkPtr_t wkPtr)

Detailed Description

Defines a path planning problem for one robot. A path planning problem is defined by

• a robot: instance of class hpp::pinocchio::Device,
• a set of obstacles: a list of hpp::pinocchio::CollisionObject,
• initial and goal configurations,
• a SteeringMethod to handle the robot dynamics, Additional objects are stored in this object:
• a method to validate paths,
• a set of methods to validate configurations. Default methods are collision checking and joint bound checking.

Constructor & Destructor Documentation

Problem() [1/3]

hpp::core::Problem::Problem

(

)

Constructor without argument

Warning

do not use this constructor. It is necessary to define std::pairs <Problem, OtherType>.

~Problem()

virtual hpp::core::Problem::~Problem ( )

virtual

Problem() [2/3]

hpp::core::Problem::Problem ( DevicePtr_t  robot )

protected

Create a path planning problem.

Parameters

robot

robot associated to the path planning problem.

Problem() [3/3]

hpp::core::Problem::Problem ( const Problem &  other )

protecteddefault

Create a path planning problem.

Parameters

robot

robot associated to the path planning problem.

Member Function Documentation

addConfigValidation()

void hpp::core::Problem::addConfigValidation

(

const ConfigValidationPtr_t &

configValidation

)

Add a config validation method.

addGoalConfig()

void hpp::core::Problem::addGoalConfig

(

ConfigurationIn_t

config

)

Add goal configuration. if problem target is not an instance of problemTarget::GoalConfigurations, set problem target as a new instance of this class and add the given configuration as a goal.

addObstacle()

void hpp::core::Problem::addObstacle

(

const CollisionObjectPtr_t &

object

)

Add obstacle to the list.

Parameters

object

a new object.

checkProblem()

virtual void hpp::core::Problem::checkProblem ( ) const

virtual

Check that problem is well formulated.

clearConfigValidations()

void hpp::core::Problem::clearConfigValidations

(

)

Clear the ConfigValidations by calling ConfigValidations::clear

collisionObstacles() [1/2]

const ObjectStdVector_t& hpp::core::Problem::collisionObstacles

(

)

const

Vector of objects considered for collision detection.

collisionObstacles() [2/2]

void hpp::core::Problem::collisionObstacles

(

const ObjectStdVector_t &

collisionObstacles

)

Set the vector of objects considered for collision detection.

configurationShooter() [1/2]

ConfigurationShooterPtr_t hpp::core::Problem::configurationShooter ( ) const

inline

Get path validation method.

configurationShooter() [2/2]

void hpp::core::Problem::configurationShooter

(

const ConfigurationShooterPtr_t &

configurationShooter

)

configValidation()

void hpp::core::Problem::configValidation ( const ConfigValidationsPtr_t &  configValidations )

inline

Set configuration validation methods Before starting tos solve a path planning problem, the initial and goal configurations are checked for validity.

configValidations()

const ConfigValidationsPtr_t& hpp::core::Problem::configValidations ( ) const

inline

Get configuration validation methods.

constraints() [1/2]

const ConstraintSetPtr_t& hpp::core::Problem::constraints ( ) const

inline

Get constraint set.

constraints() [2/2]

void hpp::core::Problem::constraints ( const ConstraintSetPtr_t &  constraints )

inline

Set constraint set

Parameters

constraints

a set of constraints If problem contains a steering method, constraints are passed to the steering method.

create()

static ProblemPtr_t hpp::core::Problem::create ( DevicePtr_t  robot )

static

Create a path planning problem.

Parameters

robot

robot associated to the path planning problem.

createCopy()

static ProblemPtr_t hpp::core::Problem::createCopy ( const ProblemConstPtr_t &  other )

static

Copy a path planning problem and return a shared pointer.

Parameters

other

problem to copy

declareParameter()

static void hpp::core::Problem::declareParameter ( const ParameterDescription &  desc )

static

Declare a parameter In shared library, use the following snippet in your cc file:

HPP_START_PARAMETER_DECLARATION(name)
Problem::declareParameter (ParameterDescription (
      Parameter::FLOAT,
      "name",
      "doc",
      Parameter(value)));
HPP_END_PARAMETER_DECLARATION(name)

distance() [1/2]

const DistancePtr_t& hpp::core::Problem::distance ( ) const

inline

Get distance between configuration.

distance() [2/2]

void hpp::core::Problem::distance ( const DistancePtr_t &  distance )

inline

Set distance between configurations.

filterCollisionPairs()

void hpp::core::Problem::filterCollisionPairs

(

)

Build matrix of relative motions between joints

Loop over constraints in the current constraint set (see Problem::constraints) and for each LockedJoint and each constraints::RelativeTransformation, fill a matrix the column and rows represent joints and the values are the following

• RelativeMotionType::Constrained when the two joints are rigidly fixed by the constraint,
• RelativeMotionType::Parameterized when the two joints are rigidly fixed by the constraint, the relative position is a parameter constant along path, but that can change for different paths,
• RelativeMotionType::Unconstrained when the two joints are not rigidly fixed by the constraint.

Note

the matrix is passed to the current configuration validation instance (Problem::configValidation) and to the current path validation instance (Problem::pathValidation).

getParameter()

const Parameter& hpp::core::Problem::getParameter ( const std::string &  name ) const

inline

Get a parameter named name.

Parameters

name	of the parameter.

goalConfigs()

const Configurations_t hpp::core::Problem::goalConfigs

(

)

const

Get goal configurations. if problem target is an instance of problemTarget::GoalConfigurations, return the vector of goal configurations. Otherwise return an empty vector.

init()

void hpp::core::Problem::init ( ProblemWkPtr_t  wkPtr )

protected

initConfig() [1/2]

const Configuration_t& hpp::core::Problem::initConfig ( ) const

inline

Get shared pointer to initial configuration.

initConfig() [2/2]

void hpp::core::Problem::initConfig

(

ConfigurationIn_t

inConfig

)

Set initial configuration.

parameterDescription()

static const ParameterDescription& hpp::core::Problem::parameterDescription ( const std::string &  name )

static

Access one parameter description.

parameterDescriptions()

static const Container<ParameterDescription>& hpp::core::Problem::parameterDescriptions ( )

static

Get all the parameter descriptions.

pathProjector() [1/2]

PathProjectorPtr_t hpp::core::Problem::pathProjector ( ) const

inline

Get path projector method.

pathProjector() [2/2]

void hpp::core::Problem::pathProjector ( const PathProjectorPtr_t &  pathProjector )

inline

pathValidation() [1/2]

PathValidationPtr_t hpp::core::Problem::pathValidation ( ) const

inline

Get path validation method.

pathValidation() [2/2]

virtual void hpp::core::Problem::pathValidation ( const PathValidationPtr_t &  pathValidation )

virtual

removeObstacleFromJoint()

void hpp::core::Problem::removeObstacleFromJoint	(	const JointPtr_t &	joint,
		const CollisionObjectConstPtr_t &	obstacle
	)

Remove a collision pair between a joint and an obstacle

Parameters

joint	that holds the inner objects,
obstacle	to remove.

resetGoalConfigs()

void hpp::core::Problem::resetGoalConfigs

(

)

Reset the set of goal configurations if problem target is not an instance of problemTarget::GoalConfigurations, set problem target as a new empty instance of this class.

robot()

const DevicePtr_t& hpp::core::Problem::robot ( ) const

inline

return shared pointer to robot.

setParameter()

void hpp::core::Problem::setParameter	(	const std::string &	name,
		const Parameter &	value
	)

Set a parameter named name.

Parameters

name	of the parameter.
value	value of the parameter

Exceptions

std::invalid_argument

if a parameter exists but has a different type.

setSecurityMargins()

void hpp::core::Problem::setSecurityMargins

(

const matrix_t &

securityMatrix

)

Set different security margins for collision pairs

This function works joint-wise. If you need a finer control, use setSecurityMarginBetweenBodies

This method enables users to choose different security margins for each pair of robot joint or each pair robot joint - obstacle.

See also

coal::CollisionRequest::security_margin.

steeringMethod() [1/2]

SteeringMethodPtr_t hpp::core::Problem::steeringMethod ( ) const

inline

Get steering method.

steeringMethod() [2/2]

void hpp::core::Problem::steeringMethod ( const SteeringMethodPtr_t &  sm )

inline

Set steering method

Parameters

sm	steering method. If problem contains constraints they are passed to the steering method.

target() [1/2]

const ProblemTargetPtr_t& hpp::core::Problem::target ( ) const

inline

Get the target.

target() [2/2]

void hpp::core::Problem::target ( const ProblemTargetPtr_t &  target )

inline

Set the target.

Member Data Documentation

parameters

Container<Parameter> hpp::core::Problem::parameters

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The documentation for this class was generated from the following file:

• include/hpp/core/problem.hh