hpp::manipulation::ProblemSolver Class Reference

#include <hpp/manipulation/problem-solver.hh>

Inheritance diagram for hpp::manipulation::ProblemSolver:

Collaboration diagram for hpp::manipulation::ProblemSolver:

Public Types
typedef core::ProblemSolver	parent_t
typedef std::vector< std::string >	Names_t

Public Member Functions
virtual	~ProblemSolver ()
	Destructor. More...
	ProblemSolver ()
virtual void	robot (const core::DevicePtr_t &robot)
const DevicePtr_t &	robot () const
	Get robot. More...
void	createPlacementConstraint (const std::string &name, const Strings_t &surface1, const Strings_t &surface2, const value_type &margin=1e-4)
void	createPrePlacementConstraint (const std::string &name, const Strings_t &surface1, const Strings_t &surface2, const value_type &width, const value_type &margin=1e-4)
void	createGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
void	createPreGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
virtual void	pathValidationType (const std::string &type, const value_type &tolerance)
virtual void	resetProblem ()
	Create a new problem. More...
virtual void	resetRoadmap ()
	Create a new Roadmap. More...
ProblemPtr_t	problem () const
	Get pointer to problem. More...
void	setTargetState (const graph::StatePtr_t state)
Constraint graph
void	constraintGraph (const std::string &graph)
	Set the constraint graph. More...
graph::GraphPtr_t	constraintGraph () const
	Get the constraint graph. More...
void	initConstraintGraph ()
	Should be called before any call on the graph is made. More...

Static Public Member Functions
static ProblemSolverPtr_t	create ()

Public Attributes
core::Container< graph::GraphPtr_t >	graphs
ConstraintsAndComplements_t	constraintsAndComplements

Protected Member Functions
virtual void	initializeProblem (ProblemPtr_t problem)

Member Typedef Documentation

Names_t

typedef std::vector<std::string> hpp::manipulation::ProblemSolver::Names_t

parent_t

typedef core::ProblemSolver hpp::manipulation::ProblemSolver::parent_t

Constructor & Destructor Documentation

~ProblemSolver()

virtual hpp::manipulation::ProblemSolver::~ProblemSolver ( )

inlinevirtual

Destructor.

ProblemSolver()

hpp::manipulation::ProblemSolver::ProblemSolver

(

)

Member Function Documentation

constraintGraph() [1/2]

graph::GraphPtr_t hpp::manipulation::ProblemSolver::constraintGraph

(

)

const

Get the constraint graph.

constraintGraph() [2/2]

void hpp::manipulation::ProblemSolver::constraintGraph

(

const std::string &

graph

)

Set the constraint graph.

create()

static ProblemSolverPtr_t hpp::manipulation::ProblemSolver::create ( )

static

createGraspConstraint()

void hpp::manipulation::ProblemSolver::createGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle
	)

Create the grasp constraint and its complement

Parameters

name	name of the grasp constraint,
gripper	gripper's name
handle	handle's name

Two constraints are created:

• "name" corresponds to the grasp constraint.
• "name/complement" corresponds to the complement.

createPlacementConstraint()

void hpp::manipulation::ProblemSolver::createPlacementConstraint	(	const std::string &	name,
		const Strings_t &	surface1,
		const Strings_t &	surface2,
		const value_type &	margin = 1e-4
	)

Create placement constraint

Parameters

name	name of the placement constraint,
triangleName	name of the first list of triangles,
envContactName	name of the second list of triangles.
margin	see hpp::constraints::ConvexShapeContact::setNormalMargin

createPreGraspConstraint()

void hpp::manipulation::ProblemSolver::createPreGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle
	)

Create pre-grasp constraint

Parameters

name	name of the grasp constraint,
gripper	gripper's name
handle	handle's name

createPrePlacementConstraint()

void hpp::manipulation::ProblemSolver::createPrePlacementConstraint	(	const std::string &	name,
		const Strings_t &	surface1,
		const Strings_t &	surface2,
		const value_type &	width,
		const value_type &	margin = 1e-4
	)

Create pre-placement constraint

Parameters

name	name of the placement constraint,
triangleName	name of the first list of triangles,
envContactName	name of the second list of triangles.
width	approaching distance.
margin	see hpp::constraints::ConvexShapeContact::setNormalMargin

initConstraintGraph()

void hpp::manipulation::ProblemSolver::initConstraintGraph

(

)

Should be called before any call on the graph is made.

initializeProblem()

virtual void hpp::manipulation::ProblemSolver::initializeProblem ( ProblemPtr_t  problem )

protectedvirtual

pathValidationType()

virtual void hpp::manipulation::ProblemSolver::pathValidationType ( const std::string &  type, const value_type &  tolerance  )

virtual

problem()

ProblemPtr_t hpp::manipulation::ProblemSolver::problem ( ) const

inline

Get pointer to problem.

resetProblem()

virtual void hpp::manipulation::ProblemSolver::resetProblem ( )

virtual

Create a new problem.

resetRoadmap()

virtual void hpp::manipulation::ProblemSolver::resetRoadmap ( )

virtual

Create a new Roadmap.

robot() [1/2]

const DevicePtr_t& hpp::manipulation::ProblemSolver::robot ( ) const

inline

Get robot.

robot() [2/2]

virtual void hpp::manipulation::ProblemSolver::robot ( const core::DevicePtr_t &  robot )

inlinevirtual

Set robot Check that robot is of type hpp::manipulation::Device

setTargetState()

void hpp::manipulation::ProblemSolver::setTargetState

(

const graph::StatePtr_t

state

)

Member Data Documentation

constraintsAndComplements

ConstraintsAndComplements_t hpp::manipulation::ProblemSolver::constraintsAndComplements

graphs

core::Container<graph::GraphPtr_t> hpp::manipulation::ProblemSolver::graphs

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

• include/hpp/manipulation/problem-solver.hh