hpp::manipulation::graph::helper Namespace Reference

Classes
struct	FoliatedManifold
struct	NumericalConstraintsAndPassiveDofs
struct	ObjectDef_t
struct	Rule

Typedefs
typedef std::vector< Rule >	Rules_t
typedef boost::tuple< ImplicitPtr_t, ImplicitPtr_t, LockedJoints_t >	PlacementConstraint_t
typedef std::vector< HandlePtr_t >	Handles_t
typedef std::vector< GripperPtr_t >	Grippers_t
typedef boost::tuple< PlacementConstraint_t, Handles_t, std::size_t >	Object_t
	Tuple representing an object as follows: More...
typedef std::vector< Object_t >	Objects_t

Enumerations
enum	GraspingCase {   NoGrasp = 1 << 0,   GraspOnly = 1 << 1,   WithPreGrasp = 1 << 2 }
enum	PlacementCase {   NoPlace = 1 << 3,   PlaceOnly = 1 << 4,   WithPrePlace = 1 << 5 }

Functions
template<int gCase>
Edges_t	createEdges (const std::string &forwName, const std::string &backName, const StatePtr_t &from, const StatePtr_t &to, const size_type &wForw, const size_type &wBack, const FoliatedManifold &grasp, const FoliatedManifold &pregrasp, const FoliatedManifold &place, const FoliatedManifold &preplace, const bool levelSetGrasp, const bool levelSetPlace, const FoliatedManifold &submanifoldDef=FoliatedManifold())
	Create edges according to the case. More...
EdgePtr_t	createLoopEdge (const std::string &loopName, const StatePtr_t &state, const size_type &w, const bool levelSet, const FoliatedManifold &submanifoldDef=FoliatedManifold())
void	graspManifold (const GripperPtr_t &gripper, const HandlePtr_t &handle, FoliatedManifold &grasp, FoliatedManifold &pregrasp)
	Create a waypoint edge taking into account: More...
void	strictPlacementManifold (const ImplicitPtr_t placement, const ImplicitPtr_t preplacement, const ImplicitPtr_t placementComplement, FoliatedManifold &place, FoliatedManifold &preplace)
	The placement foliation constraint is built using hpp::constraints::ConvexShapeMatcherComplement. More...
void	relaxedPlacementManifold (const ImplicitPtr_t placement, const ImplicitPtr_t preplacement, const LockedJoints_t objectLocks, FoliatedManifold &place, FoliatedManifold &preplace)
	The placement foliation constraint is built locked joints It is faster than strictPlacementManifold but the foliation parametrisation is redundant. More...
void	graphBuilder (const ProblemSolverPtr_t &ps, const Objects_t &objects, const Grippers_t &grippers, GraphPtr_t graph, const Rules_t &rules=Rules_t())
	Fill a Graph. More...
GraphPtr_t	graphBuilder (const ProblemSolverPtr_t &ps, const std::string &graphName, const StringList_t &griNames, const std::list< ObjectDef_t > &objs, const StringList_t &envNames, const Rules_t &rules, const value_type &prePlaceWidth=0.05)