hpp::manipulation::ProblemSolver Class Reference

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

Inheritance diagram for hpp::manipulation::ProblemSolver:

Collaboration diagram for hpp::manipulation::ProblemSolver:

List of all members.

Public Types
typedef core::ProblemSolver	parent_t
typedef std::vector< std::string >	Names_t
Public Member Functions
virtual	~ProblemSolver ()
	Destructor.
	ProblemSolver ()
virtual void	robot (const DevicePtr_t &robot)
	Set robot Check that robot is of type hpp::manipulation::Device.
const DevicePtr_t &	robot () const
	Get robot.
void	addGrasp (const DifferentiableFunctionPtr_t &constraint, const model::GripperPtr_t &gripper, const HandlePtr_t &handle)
	Add grasp.
GraspsMap_t &	grasps ()
	get grapsMap
GraspPtr_t	grasp (const DifferentiableFunctionPtr_t &constraint) const
	get graps by name
virtual void	resetConstraints ()
	Reset constraint set and put back the disable collisions between gripper and handle.
virtual void	addFunctionToConfigProjector (const std::string &constraintName, const std::string &functionName)
	Add differential function to the config projector.
virtual void	resetProblem ()
	Create a new problem.
virtual void	resetRoadmap ()
	Create a new Roadmap.
ProblemPtr_t	problem () const
	Get pointer to problem.
template<typename Element >
const Element &	get (const std::string &name) const
	Get an element of a container.
template<typename Element >
void	add (const std::string &name, const Element &element)
	Add an element to a container.
template<typename Element >
const Container< Element > ::ElementMap_t &	getAll () const
	Get the underlying map of a container.
Constraint graph
void	constraintGraph (const graph::GraphPtr_t &graph)
	Set the constraint graph.
graph::GraphPtr_t	constraintGraph () const
	Get the constraint graph.
Protected Member Functions
void	initializeProblem (ProblemPtr_t problem)

---

Member Typedef Documentation

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

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

---

Constructor & Destructor Documentation

virtual hpp::manipulation::ProblemSolver::~ProblemSolver

(

)

[inline, virtual]

Destructor.

Reimplemented from hpp::core::ProblemSolver.

hpp::manipulation::ProblemSolver::ProblemSolver

(

)

[inline]

Reimplemented from hpp::core::ProblemSolver.

---

Member Function Documentation

template<typename Element >

void hpp::manipulation::ProblemSolver::add	(	const std::string &	name,
		const Element &	element
	)		[inline]

Add an element to a container.

virtual void hpp::manipulation::ProblemSolver::addFunctionToConfigProjector	(	const std::string &	constraintName,
		const std::string &	functionName
	)		[virtual]

Add differential function to the config projector.

Parameters:

constraintName	Name given to config projector if created by this method.
functionName	name of the function as stored in internal map. Build the config projector if not yet constructed. If constraint is a graps, deactivate collision between gripper and object.

Reimplemented from hpp::core::ProblemSolver.

void hpp::manipulation::ProblemSolver::addGrasp	(	const DifferentiableFunctionPtr_t &	constraint,
		const model::GripperPtr_t &	gripper,
		const HandlePtr_t &	handle
	)		[inline]

Add grasp.

void hpp::manipulation::ProblemSolver::constraintGraph

(

const graph::GraphPtr_t &

graph

)

Set the constraint graph.

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

(

)

const

Get the constraint graph.

template<typename Element >

const Element& hpp::manipulation::ProblemSolver::get

(

const std::string &

name

)

const [inline]

Get an element of a container.

Reimplemented from hpp::manipulation::Container< LockedJointPtr_t >.

template<typename Element >

const Container<Element>::ElementMap_t& hpp::manipulation::ProblemSolver::getAll

(

)

const [inline]

Get the underlying map of a container.

Reimplemented from hpp::manipulation::Container< LockedJointPtr_t >.

GraspPtr_t hpp::manipulation::ProblemSolver::grasp

(

const DifferentiableFunctionPtr_t &

constraint

)

const

get graps by name

return NULL if no grasp named graspName

GraspsMap_t& hpp::manipulation::ProblemSolver::grasps

(

)

[inline]

get grapsMap

void hpp::manipulation::ProblemSolver::initializeProblem

(

ProblemPtr_t

problem

)

[protected]

ProblemPtr_t hpp::manipulation::ProblemSolver::problem

(

)

const [inline]

Get pointer to problem.

virtual void hpp::manipulation::ProblemSolver::resetConstraints

(

)

[virtual]

Reset constraint set and put back the disable collisions between gripper and handle.

Reimplemented from hpp::core::ProblemSolver.

virtual void hpp::manipulation::ProblemSolver::resetProblem

(

)

[virtual]

Create a new problem.

Reimplemented from hpp::core::ProblemSolver.

virtual void hpp::manipulation::ProblemSolver::resetRoadmap

(

)

[virtual]

Create a new Roadmap.

Reimplemented from hpp::core::ProblemSolver.

virtual void hpp::manipulation::ProblemSolver::robot

(

const DevicePtr_t &

robot

)

[inline, virtual]

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

Reimplemented from hpp::core::ProblemSolver.

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

(

)

const [inline]

Get robot.

Reimplemented from hpp::core::ProblemSolver.