hpp-manipulation  6.0.0
Classes for manipulation planning.
Classes | Typedefs | Functions
Path_planning

Classes

class  hpp::manipulation::ManipulationPlanner
 
class  hpp::manipulation::pathPlanner::EndEffectorTrajectory
 
class  hpp::manipulation::problemTarget::State
 
class  hpp::manipulation::Problem
 

Typedefs

typedef std::vector< Configuration_t > hpp::manipulation::pathPlanner::IkSolverInitialization::Configurations_t
 

Functions

Configurations_t hpp::manipulation::pathPlanner::IkSolverInitialization::solve (vectorIn_t target)
 
virtual Configurations_t hpp::manipulation::pathPlanner::IkSolverInitialization::impl_solve (vectorIn_t target)=0
 
static EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::create (const core::ProblemConstPtr_t &problem)
 
static EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::createWithRoadmap (const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
 
virtual void hpp::manipulation::pathPlanner::EndEffectorTrajectory::startSolve ()
 
virtual void hpp::manipulation::pathPlanner::EndEffectorTrajectory::oneStep ()
 One step of the algorithm. More...
 
int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig () const
 
void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig (int n)
 
int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps () const
 Number of steps to generate goal config (successive projections). More...
 
void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps (int n)
 
void hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly (bool enable)
 
bool hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly () const
 
void hpp::manipulation::pathPlanner::EndEffectorTrajectory::ikSolverInitialization (IkSolverInitializationPtr_t solver)
 
void hpp::manipulation::pathPlanner::EndEffectorTrajectory::tryConnectInitAndGoals ()
 
 hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory (const core::ProblemConstPtr_t &problem)
 
 hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory (const core::ProblemConstPtr_t &problem, const core::RoadmapPtr_t &roadmap)
 
void hpp::manipulation::pathPlanner::EndEffectorTrajectory::init (const EndEffectorTrajectoryWkPtr_t &weak)
 Store weak pointer to itself. More...
 

Detailed Description

Typedef Documentation

◆ Configurations_t

typedef std::vector<Configuration_t> hpp::manipulation::pathPlanner::IkSolverInitialization::Configurations_t

Function Documentation

◆ checkFeasibilityOnly() [1/2]

bool hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly ( ) const
inline

◆ checkFeasibilityOnly() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::checkFeasibilityOnly ( bool  enable)

If enabled, only add one solution to the roadmap. Otherwise add all solution.

◆ create()

static EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::create ( const core::ProblemConstPtr_t &  problem)
static

Return shared pointer to new instance

Parameters
problemthe path planning problem

◆ createWithRoadmap()

static EndEffectorTrajectoryPtr_t hpp::manipulation::pathPlanner::EndEffectorTrajectory::createWithRoadmap ( const core::ProblemConstPtr_t &  problem,
const core::RoadmapPtr_t &  roadmap 
)
static

Return shared pointer to new instance

Parameters
problemthe path planning problem
roadmappreviously built roadmap

◆ EndEffectorTrajectory() [1/2]

hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory ( const core::ProblemConstPtr_t &  problem)
protected

Protected constructor

Parameters
problemthe path planning problem

◆ EndEffectorTrajectory() [2/2]

hpp::manipulation::pathPlanner::EndEffectorTrajectory::EndEffectorTrajectory ( const core::ProblemConstPtr_t &  problem,
const core::RoadmapPtr_t &  roadmap 
)
protected

Protected constructor

Parameters
problemthe path planning problem
roadmappreviously built roadmap

◆ ikSolverInitialization()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::ikSolverInitialization ( IkSolverInitializationPtr_t  solver)
inline

◆ impl_solve()

virtual Configurations_t hpp::manipulation::pathPlanner::IkSolverInitialization::impl_solve ( vectorIn_t  target)
protectedpure virtual

◆ init()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::init ( const EndEffectorTrajectoryWkPtr_t &  weak)
protected

Store weak pointer to itself.

◆ nDiscreteSteps() [1/2]

int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps ( ) const
inline

Number of steps to generate goal config (successive projections).

◆ nDiscreteSteps() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nDiscreteSteps ( int  n)
inline

◆ nRandomConfig() [1/2]

int hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig ( ) const
inline

Get the number of random configurations shoot (after using init config) in order to generate the initial config of the final path.

◆ nRandomConfig() [2/2]

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::nRandomConfig ( int  n)
inline

◆ oneStep()

virtual void hpp::manipulation::pathPlanner::EndEffectorTrajectory::oneStep ( )
virtual

One step of the algorithm.

◆ solve()

Configurations_t hpp::manipulation::pathPlanner::IkSolverInitialization::solve ( vectorIn_t  target)
inline

◆ startSolve()

virtual void hpp::manipulation::pathPlanner::EndEffectorTrajectory::startSolve ( )
virtual

Initialize the problem resolution

  • call parent implementation
  • get number nodes in problem parameter map

◆ tryConnectInitAndGoals()

void hpp::manipulation::pathPlanner::EndEffectorTrajectory::tryConnectInitAndGoals ( )