hpp::manipulation::Problem Class Reference

#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.
graph::GraphPtr_t	constraintGraph () const
	Get the graph of constraints.
virtual void	checkProblem () const
	Check whether the problem is well formulated.
PathValidationPtr_t	pathValidation () const
	Expose parent method.
void	pathValidation (const PathValidationPtr_t &pathValidation)
SteeringMethodPtr_t	manipulationSteeringMethod () const
	Get the steering method as a SteeringMethod.
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 getParameter (const std::string &name) const
void	Parameter &value)
const robot () const
const initConfig () const
void	ConfigurationIn_t inConfig)
void	ProblemTargetPtr_t &target)
const target () const
const goalConfigs () const
void	ConfigurationIn_t config)
void	resetGoalConfigs ()
void	SteeringMethodPtr_t &sm)
steeringMethod () const
void	DistancePtr_t &distance)
const distance () const
void	configValidations)
const configValidations () const
void	clearConfigValidations ()
void	configValidation)
pathValidation () const
void	ConfigurationShooterPtr_t &configurationShooter)
configurationShooter () const
void	PathProjectorPtr_t &pathProjector)
pathProjector () const
void	ConstraintSetPtr_t &constraints)
const constraints () const
void	CollisionObjectPtr_t &object)
void	CollisionObjectConstPtr_t &obstacle)
void	filterCollisionPairs ()
void	matrix_t &securityMatrix)
const collisionObstacles () const
void	ObjectStdVector_t &collisionObstacles)
const robot () const
const initConfig () const
void	ConfigurationIn_t inConfig)
void	ProblemTargetPtr_t &target)
const target () const
const goalConfigs () const
void	ConfigurationIn_t config)
void	resetGoalConfigs ()
void	SteeringMethodPtr_t &sm)
steeringMethod () const
void	DistancePtr_t &distance)
const distance () const
void	configValidations)
const configValidations () const
void	clearConfigValidations ()
void	configValidation)
pathValidation () const
void	ConfigurationShooterPtr_t &configurationShooter)
configurationShooter () const
void	PathProjectorPtr_t &pathProjector)
pathProjector () const
void	ConstraintSetPtr_t &constraints)
const constraints () const
void	CollisionObjectPtr_t &object)
void	CollisionObjectConstPtr_t &obstacle)
void	filterCollisionPairs ()
void	matrix_t &securityMatrix)
const collisionObstacles () const
void	ObjectStdVector_t &collisionObstacles)

Static Public Member Functions
static ProblemPtr_t	create (DevicePtr_t robot)
	Constructor.
Static Public Member Functions inherited from hpp::core::Problem
static robot)
static ProblemConstPtr_t &other)
static void	ParameterDescription &desc)
static const parameterDescriptions ()
static const parameterDescription (const std::string &name)

Protected Member Functions
	Problem (DevicePtr_t robot)
	Constructor.
void	init (ProblemWkPtr_t wkPtr)
Protected Member Functions inherited from hpp::core::Problem
	robot)
	Problem &other)=default
void	init (ProblemWkPtr_t wkPtr)

Additional Inherited Members

Public Attributes inherited from hpp::core::Problem

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]

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

inline

Get the graph of constraints.

constraintGraph() [2/2]

void hpp::manipulation::Problem::constraintGraph

(

const graph::GraphPtr_t &

graph

)

Set the graph of constraints.

create()

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 )

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

• include/hpp/manipulation/problem.hh