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

Inheritance diagram for hpp::manipulation::ProblemSolver:

Collaboration diagram for hpp::manipulation::ProblemSolver:

Public Types
typedef core::ProblemSolver	parent_t
typedef std::vector< std::string >	Names_t
Public Types inherited from hpp::core::ProblemSolver
typedef std::vector< PathOptimizers_t
typedef std::vector< std::string >	PathOptimizerTypes_t
typedef std::vector< std::string >	ConfigValidationTypes_t

Public Member Functions
virtual	~ProblemSolver ()
	Destructor.
	ProblemSolver ()
virtual void	robot (const core::DevicePtr_t &robot)
const DevicePtr_t &	robot () const
	Get robot.
void	createPlacementConstraint (const std::string &name, const Strings_t &surface1, const Strings_t &surface2, const value_type &margin=1e-4)
void	createPrePlacementConstraint (const std::string &name, const Strings_t &surface1, const Strings_t &surface2, const value_type &width, const value_type &margin=1e-4)
void	createGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
void	createPreGraspConstraint (const std::string &name, const std::string &gripper, const std::string &handle)
virtual void	pathValidationType (const std::string &type, const value_type &tolerance)
virtual void	resetProblem ()
	Create a new problem.
virtual void	resetRoadmap ()
	Create a new Roadmap.
ProblemPtr_t	problem () const
	Get pointer to problem.
void	setTargetState (const graph::StatePtr_t state)
Constraint graph
void	constraintGraph (const std::string &graph)
	Set the constraint graph.
graph::GraphPtr_t	constraintGraph () const
	Get the constraint graph.
void	initConstraintGraph ()
	Should be called before any call on the graph is made.
Public Member Functions inherited from hpp::core::ProblemSolver
void	robotType (const std::string &type)
const std::string &	robotType () const
createRobot (const std::string &name)
const robot () const
problem ()
const initConfig () const
virtual void	ConfigurationIn_t config)
const goalConfigs () const
virtual void	ConfigurationIn_t config)
void	resetGoalConfigs ()
void	constraints)
void	resetGoalConstraints ()
virtual void	pathPlannerType (const std::string &type)
const std::string &	pathPlannerType () const
void	distanceType (const std::string &type)
const std::string &	distanceType () const
void	steeringMethodType (const std::string &type)
const std::string &	steeringMethodType () const
void	configurationShooterType (const std::string &type)
const std::string &	configurationShooterType () const
const pathPlanner () const
void	addPathOptimizer (const std::string &type)
const pathOptimizerTypes () const
void	clearPathOptimizers ()
const pathOptimizer (std::size_t rank) const
void	PathVectorPtr_t path)
const std::string &	value_type &tolerance) const
void	value_type &step)
const std::string &	value_type &tolerance) const
virtual void	addConfigValidation (const std::string &type)
const configValidationTypes ()
void	clearConfigValidations ()
void	ConfigValidationBuilder_t &builder)
const roadmap () const
const collisionObstacles () const
const distanceObstacles () const
void	RoadmapPtr_t &roadmap)
void	initDistance ()
void	initSteeringMethod ()
void	initPathProjector ()
void	initPathValidation ()
void	initConfigValidation ()
void	initValidations ()
virtual void	initProblemTarget ()
void	ConstraintPtr_t &constraint)
const constraints () const
virtual void	resetConstraints ()
virtual void	addNumericalConstraintToConfigProjector (const std::string &configProjName, const std::string &constraintName, const std::size_t priority=0)
void	constraints::ImplicitPtr_t &constraint)
void	ComparisonTypes_t types)
void	ComparisonType &type)
comparisonType (const std::string &name) const
numericalConstraint (const std::string &name)
void	matrix_t &jacobian) const
void	size_type iterations)
maxIterProjection () const
void	size_type iterations)
maxIterPathPlanning () const
void	timeOut)
double	getTimeOutPathPlanning ()
void	value_type &threshold)
errorThreshold () const
void	createPathOptimizers ()
virtual bool	prepareSolveStepByStep ()
virtual bool	executeOneStep ()
virtual void	finishSolveStepByStep ()
virtual void	solve ()
bool	ConfigurationIn_t end, bool validate, std::size_t &pathId, std::string &report)
void	ConfigurationIn_t config)
void	PathPtr_t &path)
void	interrupt ()
std::size_t	PathVectorPtr_t &path)
void	erasePath (std::size_t pathId)
const paths () const
virtual void	DevicePtr_t &device, bool collision, bool distance)
virtual void	CollisionObjectPtr_t &inObject, bool collision, bool distance)
virtual void	removeObstacle (const std::string &name)
virtual void	Transform3s &pose, bool collision, bool distance)
virtual void	FclCollisionObject &inObject, bool collision, bool distance)
void	removeObstacleFromJoint (const std::string &jointName, const std::string &obstacleName)
void	cutObstacle (const std::string &name, const coal::AABB &aabb)
void	filterCollisionPairs ()
obstacle (const std::string &name) const
const obstacleFramePosition (const std::string &name) const
std::list< std::string >	obstacleNames (bool collision, bool distance) const
const distanceBetweenObjects () const
obstacleGeomModel () const
obstacleGeomData () const
void	ConstraintPtr_t &constraint)
const constraints () const
virtual void	resetConstraints ()
virtual void	addNumericalConstraintToConfigProjector (const std::string &configProjName, const std::string &constraintName, const std::size_t priority=0)
void	constraints::ImplicitPtr_t &constraint)
void	ComparisonTypes_t types)
void	ComparisonType &type)
comparisonType (const std::string &name) const
numericalConstraint (const std::string &name)
void	matrix_t &jacobian) const
void	size_type iterations)
maxIterProjection () const
void	size_type iterations)
maxIterPathPlanning () const
void	timeOut)
double	getTimeOutPathPlanning ()
void	value_type &threshold)
errorThreshold () const
void	createPathOptimizers ()
virtual bool	prepareSolveStepByStep ()
virtual bool	executeOneStep ()
virtual void	finishSolveStepByStep ()
virtual void	solve ()
bool	ConfigurationIn_t end, bool validate, std::size_t &pathId, std::string &report)
void	ConfigurationIn_t config)
void	PathPtr_t &path)
void	interrupt ()
std::size_t	PathVectorPtr_t &path)
void	erasePath (std::size_t pathId)
const paths () const
virtual void	DevicePtr_t &device, bool collision, bool distance)
virtual void	CollisionObjectPtr_t &inObject, bool collision, bool distance)
virtual void	removeObstacle (const std::string &name)
virtual void	Transform3s &pose, bool collision, bool distance)
virtual void	FclCollisionObject &inObject, bool collision, bool distance)
void	removeObstacleFromJoint (const std::string &jointName, const std::string &obstacleName)
void	cutObstacle (const std::string &name, const coal::AABB &aabb)
void	filterCollisionPairs ()
obstacle (const std::string &name) const
const obstacleFramePosition (const std::string &name) const
std::list< std::string >	obstacleNames (bool collision, bool distance) const
const distanceBetweenObjects () const
obstacleGeomModel () const
obstacleGeomData () const

Static Public Member Functions
static ProblemSolverPtr_t	create ()
Static Public Member Functions inherited from hpp::core::ProblemSolver
static create ()

Protected Member Functions
virtual void	initializeProblem (ProblemPtr_t problem)
Protected Member Functions inherited from hpp::core::ProblemSolver
	ProblemSolver ()
void	ProblemPtr_t problem)

Additional Inherited Members
Protected Attributes inherited from hpp::core::ProblemSolver
constraints_
robot_
problem_
pathPlanner_
roadmap_
paths_
std::string	pathProjectorType_
pathProjectorTolerance_
std::string	pathPlannerType_
target_

Member Typedef Documentation

◆ Names_t

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

◆ parent_t

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

Constructor & Destructor Documentation

◆ ~ProblemSolver()

virtual hpp::manipulation::ProblemSolver::~ProblemSolver ( )

inlinevirtual

Destructor.

Reimplemented from hpp::core::ProblemSolver.

◆ ProblemSolver()

hpp::manipulation::ProblemSolver::ProblemSolver ( )

Member Function Documentation

◆ constraintGraph() [1/2]

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

Get the constraint graph.

◆ constraintGraph() [2/2]

void hpp::manipulation::ProblemSolver::constraintGraph ( const std::string & graph )

Set the constraint graph.

◆ create()

ProblemSolverPtr_t hpp::manipulation::ProblemSolver::create ( )

static

◆ createGraspConstraint()

void hpp::manipulation::ProblemSolver::createGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle )

Create the grasp constraint and its complement

Parameters

name	name of the grasp constraint,
gripper	gripper's name
handle	handle's name

Two constraints are created:

"name" corresponds to the grasp constraint.
"name/complement" corresponds to the complement.

◆ createPlacementConstraint()

void hpp::manipulation::ProblemSolver::createPlacementConstraint	(	const std::string &	name,
		const Strings_t &	surface1,
		const Strings_t &	surface2,
		const value_type &	margin = 1e-4 )

Create placement constraint

Parameters

name	name of the placement constraint,
triangleName	name of the first list of triangles,
envContactName	name of the second list of triangles.
margin	see hpp::constraints::ConvexShapeContact::setNormalMargin

◆ createPreGraspConstraint()

void hpp::manipulation::ProblemSolver::createPreGraspConstraint	(	const std::string &	name,
		const std::string &	gripper,
		const std::string &	handle )

Create pre-grasp constraint

Parameters

name	name of the grasp constraint,
gripper	gripper's name
handle	handle's name

◆ createPrePlacementConstraint()

void hpp::manipulation::ProblemSolver::createPrePlacementConstraint	(	const std::string &	name,
		const Strings_t &	surface1,
		const Strings_t &	surface2,
		const value_type &	width,
		const value_type &	margin = 1e-4 )

Create pre-placement constraint

Parameters

name	name of the placement constraint,
triangleName	name of the first list of triangles,
envContactName	name of the second list of triangles.
width	approaching distance.
margin	see hpp::constraints::ConvexShapeContact::setNormalMargin

◆ initConstraintGraph()

void hpp::manipulation::ProblemSolver::initConstraintGraph ( )

Should be called before any call on the graph is made.

◆ initializeProblem()

virtual void hpp::manipulation::ProblemSolver::initializeProblem ( ProblemPtr_t problem )

protectedvirtual

Reimplemented from hpp::core::ProblemSolver.

◆ pathValidationType()

virtual void hpp::manipulation::ProblemSolver::pathValidationType	(	const std::string &	type,
		const value_type &	tolerance )

virtual

Reimplemented from hpp::core::ProblemSolver.

◆ problem()

ProblemPtr_t hpp::manipulation::ProblemSolver::problem ( ) const

inline

Get pointer to problem.

◆ resetProblem()

virtual void hpp::manipulation::ProblemSolver::resetProblem ( )

virtual

Create a new problem.

Reimplemented from hpp::core::ProblemSolver.

◆ resetRoadmap()

virtual void hpp::manipulation::ProblemSolver::resetRoadmap ( )

virtual

Create a new Roadmap.

Reimplemented from hpp::core::ProblemSolver.

◆ robot() [1/2]

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

inline

Get robot.

◆ robot() [2/2]

virtual void hpp::manipulation::ProblemSolver::robot ( const core::DevicePtr_t & robot )

inlinevirtual

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

Reimplemented from hpp::core::ProblemSolver.

◆ setTargetState()

void hpp::manipulation::ProblemSolver::setTargetState ( const graph::StatePtr_t state )

Member Data Documentation

◆ constraintsAndComplements

ConstraintsAndComplements_t hpp::manipulation::ProblemSolver::constraintsAndComplements

◆ graphs

core::Container<graph::GraphPtr_t> hpp::manipulation::ProblemSolver::graphs

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

include/hpp/manipulation/problem-solver.hh

Public Attributes
core::Container< graph::GraphPtr_t >	graphs
ConstraintsAndComplements_t	constraintsAndComplements
Public Attributes inherited from hpp::core::ProblemSolver
robots
configurationShooters
steeringMethods
distances
pathValidations
configValidations
pathProjectors
pathPlanners
pathOptimizers
numericalConstraints
lockedJoints
centerOfMassComputations
passiveDofs
jointAndShapes
affordanceObjects
affordanceConfigs

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ Names_t

◆ parent_t

Constructor & Destructor Documentation

◆ ~ProblemSolver()

◆ ProblemSolver()

Member Function Documentation

◆ constraintGraph() [1/2]

◆ constraintGraph() [2/2]

◆ create()

◆ createGraspConstraint()

◆ createPlacementConstraint()

◆ createPreGraspConstraint()

◆ createPrePlacementConstraint()

◆ initConstraintGraph()

◆ initializeProblem()

◆ pathValidationType()

◆ problem()

◆ resetProblem()

◆ resetRoadmap()

◆ robot() [1/2]

◆ robot() [2/2]

◆ setTargetState()

Member Data Documentation

◆ constraintsAndComplements

◆ graphs