#include <hpp/manipulation/problem.hh>

Inheritance diagram for hpp::manipulation::Problem:

Collaboration diagram for hpp::manipulation::Problem:

Public Types
typedef core::Problem	Parent

Public Member Functions
void	constraintGraph (const graph::GraphPtr_t &graph)
	Set the graph of constraints. More...

graph::GraphPtr_t	constraintGraph () const
	Get the graph of constraints. More...

virtual void	checkProblem () const
	Check whether the problem is well formulated. More...

PathValidationPtr_t	pathValidation () const
	Expose parent method. More...

void	pathValidation (const PathValidationPtr_t &pathValidation)

SteeringMethodPtr_t	manipulationSteeringMethod () const
	Get the steering method as a SteeringMethod. More...

PathValidationPtr_t	pathValidationFactory () const

void	setPathValidationFactory (const core::PathValidationBuilder_t &factory, const value_type &tol)

Public Member Functions inherited from hpp::core::Problem
	Problem ()

virtual	~Problem ()

const Parameter &	getParameter (const std::string &name) const

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

const DevicePtr_t &	robot () const

const ConfigurationPtr_t &	initConfig () const

void	initConfig (const ConfigurationPtr_t &inConfig)

void	target (const ProblemTargetPtr_t &target)

const ProblemTargetPtr_t &	target () const

const Configurations_t &	goalConfigs () const

void	addGoalConfig (const ConfigurationPtr_t &config)

void	resetGoalConfigs ()

void	steeringMethod (const SteeringMethodPtr_t &sm)

SteeringMethodPtr_t	steeringMethod () const

void	distance (const DistancePtr_t &distance)

const DistancePtr_t &	distance () const

void	configValidation (const ConfigValidationsPtr_t &configValidations)

const ConfigValidationsPtr_t &	configValidations () const

void	resetConfigValidations ()

void	clearConfigValidations ()

void	addConfigValidation (const ConfigValidationPtr_t &configValidation)

PathValidationPtr_t	pathValidation () const

void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)

ConfigurationShooterPtr_t	configurationShooter () const

void	pathProjector (const PathProjectorPtr_t &pathProjector)

PathProjectorPtr_t	pathProjector () const

void	constraints (const ConstraintSetPtr_t &constraints)

const ConstraintSetPtr_t &	constraints () const

void	addObstacle (const CollisionObjectPtr_t &object)

void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)

void	filterCollisionPairs ()

const ObjectStdVector_t &	collisionObstacles () const

void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)

const DevicePtr_t &	robot () const

const ConfigurationPtr_t &	initConfig () const

void	initConfig (const ConfigurationPtr_t &inConfig)

void	target (const ProblemTargetPtr_t &target)

const ProblemTargetPtr_t &	target () const

const Configurations_t &	goalConfigs () const

void	addGoalConfig (const ConfigurationPtr_t &config)

void	resetGoalConfigs ()

void	steeringMethod (const SteeringMethodPtr_t &sm)

SteeringMethodPtr_t	steeringMethod () const

void	distance (const DistancePtr_t &distance)

const DistancePtr_t &	distance () const

void	configValidation (const ConfigValidationsPtr_t &configValidations)

const ConfigValidationsPtr_t &	configValidations () const

void	resetConfigValidations ()

void	clearConfigValidations ()

void	addConfigValidation (const ConfigValidationPtr_t &configValidation)

PathValidationPtr_t	pathValidation () const

void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)

ConfigurationShooterPtr_t	configurationShooter () const

void	pathProjector (const PathProjectorPtr_t &pathProjector)

PathProjectorPtr_t	pathProjector () const

void	constraints (const ConstraintSetPtr_t &constraints)

const ConstraintSetPtr_t &	constraints () const

void	addObstacle (const CollisionObjectPtr_t &object)

void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)

void	filterCollisionPairs ()

const ObjectStdVector_t &	collisionObstacles () const

void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)

	Problem ()

virtual	~Problem ()

const Parameter &	getParameter (const std::string &name) const

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

const DevicePtr_t &	robot () const

const ConfigurationPtr_t &	initConfig () const

void	initConfig (const ConfigurationPtr_t &inConfig)

void	target (const ProblemTargetPtr_t &target)

const ProblemTargetPtr_t &	target () const

const Configurations_t &	goalConfigs () const

void	addGoalConfig (const ConfigurationPtr_t &config)

void	resetGoalConfigs ()

void	steeringMethod (const SteeringMethodPtr_t &sm)

SteeringMethodPtr_t	steeringMethod () const

void	distance (const DistancePtr_t &distance)

const DistancePtr_t &	distance () const

void	configValidation (const ConfigValidationsPtr_t &configValidations)

const ConfigValidationsPtr_t &	configValidations () const

void	resetConfigValidations ()

void	clearConfigValidations ()

void	addConfigValidation (const ConfigValidationPtr_t &configValidation)

PathValidationPtr_t	pathValidation () const

void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)

ConfigurationShooterPtr_t	configurationShooter () const

void	pathProjector (const PathProjectorPtr_t &pathProjector)

PathProjectorPtr_t	pathProjector () const

void	constraints (const ConstraintSetPtr_t &constraints)

const ConstraintSetPtr_t &	constraints () const

void	addObstacle (const CollisionObjectPtr_t &object)

void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)

void	filterCollisionPairs ()

const ObjectStdVector_t &	collisionObstacles () const

void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)

const DevicePtr_t &	robot () const

const ConfigurationPtr_t &	initConfig () const

void	initConfig (const ConfigurationPtr_t &inConfig)

void	target (const ProblemTargetPtr_t &target)

const ProblemTargetPtr_t &	target () const

const Configurations_t &	goalConfigs () const

void	addGoalConfig (const ConfigurationPtr_t &config)

void	resetGoalConfigs ()

void	steeringMethod (const SteeringMethodPtr_t &sm)

SteeringMethodPtr_t	steeringMethod () const

void	distance (const DistancePtr_t &distance)

const DistancePtr_t &	distance () const

void	configValidation (const ConfigValidationsPtr_t &configValidations)

const ConfigValidationsPtr_t &	configValidations () const

void	resetConfigValidations ()

void	clearConfigValidations ()

void	addConfigValidation (const ConfigValidationPtr_t &configValidation)

PathValidationPtr_t	pathValidation () const

void	configurationShooter (const ConfigurationShooterPtr_t &configurationShooter)

ConfigurationShooterPtr_t	configurationShooter () const

void	pathProjector (const PathProjectorPtr_t &pathProjector)

PathProjectorPtr_t	pathProjector () const

void	constraints (const ConstraintSetPtr_t &constraints)

const ConstraintSetPtr_t &	constraints () const

void	addObstacle (const CollisionObjectPtr_t &object)

void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)

void	filterCollisionPairs ()

const ObjectStdVector_t &	collisionObstacles () const

void	collisionObstacles (const ObjectStdVector_t &collisionObstacles)

Static Public Member Functions
static ProblemPtr_t	create (DevicePtr_t robot)
	Constructor. More...

Static Public Member Functions inherited from hpp::core::Problem
static ProblemPtr_t	create (DevicePtr_t robot)

static void	declareParameter (const ParameterDescription &desc)

static const Container< ParameterDescription > &	parameterDescriptions ()

static const ParameterDescription &	parameterDescription (const std::string &name)

static ProblemPtr_t	create (DevicePtr_t robot)

static void	declareParameter (const ParameterDescription &desc)

static const Container< ParameterDescription > &	parameterDescriptions ()

static const ParameterDescription &	parameterDescription (const std::string &name)

Protected Member Functions
	Problem (DevicePtr_t robot)
	Constructor. More...

void	init (ProblemWkPtr_t wkPtr)

Protected Member Functions inherited from hpp::core::Problem
	Problem (DevicePtr_t robot)

void	init (ProblemWkPtr_t wkPtr)

	Problem (DevicePtr_t robot)

void	init (ProblemWkPtr_t wkPtr)

Additional Inherited Members
Public Attributes inherited from hpp::core::Problem
Container< Parameter >	parameters

Member Typedef Documentation

◆ Parent

typedef core::Problem hpp::manipulation::Problem::Parent

Constructor & Destructor Documentation

◆ Problem()

hpp::manipulation::Problem::Problem ( DevicePtr_t robot )

protected

Constructor.

Member Function Documentation

◆ checkProblem()

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

virtual

Check whether the problem is well formulated.

Reimplemented from hpp::core::Problem.

◆ constraintGraph() [1/2]

void hpp::manipulation::Problem::constraintGraph ( const graph::GraphPtr_t & graph )

Set the graph of constraints.

◆ constraintGraph() [2/2]

graph::GraphPtr_t hpp::manipulation::Problem::constraintGraph ( ) const

inline

Get the graph of constraints.

◆ create()

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

static

Constructor.

◆ init()

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

protected

◆ manipulationSteeringMethod()

SteeringMethodPtr_t hpp::manipulation::Problem::manipulationSteeringMethod ( ) const

Get the steering method as a SteeringMethod.

◆ pathValidation() [1/2]

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

Expose parent method.

◆ pathValidation() [2/2]

void hpp::manipulation::Problem::pathValidation ( const PathValidationPtr_t & pathValidation )

virtual

Parameters

pathValidation if of type GraphPathValidation, sets its constraint graph to Problem::constraintGraph()

Reimplemented from hpp::core::Problem.

◆ pathValidationFactory()

PathValidationPtr_t hpp::manipulation::Problem::pathValidationFactory ( ) const

Build a new path validation

Note: Current obstacles are added to the created object.

Todo:: Keep a pointer to this value to update it when a new obstacle is added.

◆ setPathValidationFactory()

void hpp::manipulation::Problem::setPathValidationFactory	(	const core::PathValidationBuilder_t &	factory,
		const value_type &	tol
	)

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

include/hpp/manipulation/problem.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members