Classes
struct	hpp::manipulation::graph::helper::FoliatedManifold
struct	hpp::manipulation::graph::helper::Rule
struct	hpp::manipulation::graph::helper::ObjectDef_t

Typedefs
typedef std::vector< Rule >	hpp::manipulation::graph::helper::Rules_t
typedef std::tuple< ImplicitPtr_t, LockedJoints_t >	hpp::manipulation::graph::helper::PlacementConstraint_t
typedef std::vector< HandlePtr_t >	hpp::manipulation::graph::helper::Handles_t
typedef std::vector< GripperPtr_t >	hpp::manipulation::graph::helper::Grippers_t
typedef std::tuple< PlacementConstraint_t, Handles_t, std::size_t >	hpp::manipulation::graph::helper::Object_t
typedef std::vector< Object_t >	hpp::manipulation::graph::helper::Objects_t

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

Functions
NumericalConstraints_t	hpp::manipulation::graph::helper::merge_nc (const NumericalConstraints_t &a, const NumericalConstraints_t &b)
template<int gCase>
Edges_t	hpp::manipulation::graph::helper::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())
EdgePtr_t	hpp::manipulation::graph::helper::createLoopEdge (const std::string &loopName, const StatePtr_t &state, const size_type &w, const bool levelSet, const FoliatedManifold &submanifoldDef=FoliatedManifold())
void	hpp::manipulation::graph::helper::graspManifold (const GripperPtr_t &gripper, const HandlePtr_t &handle, FoliatedManifold &grasp, FoliatedManifold &pregrasp)
void	hpp::manipulation::graph::helper::strictPlacementManifold (const ImplicitPtr_t placementComplement, FoliatedManifold &place, FoliatedManifold &preplace)
void	hpp::manipulation::graph::helper::relaxedPlacementManifold (const ImplicitPtr_t preplacement, const LockedJoints_t objectLocks, FoliatedManifold &place, FoliatedManifold &preplace)
void	hpp::manipulation::graph::helper::graphBuilder (const ProblemSolverPtr_t &ps, const Objects_t &objects, const Grippers_t &grippers, GraphPtr_t graph, const Rules_t &rules=Rules_t())
GraphPtr_t	hpp::manipulation::graph::helper::graphBuilder (const ProblemSolverPtr_t &ps, const std::string &graphName, const Strings_t &griNames, const std::vector< ObjectDef_t > &objs, const Strings_t &envNames, const Rules_t &rules, const value_type &prePlaceWidth=0.05)

Detailed Description

Typedef Documentation

◆ Grippers_t

typedef std::vector<GripperPtr_t> hpp::manipulation::graph::helper::Grippers_t

◆ Handles_t

typedef std::vector<HandlePtr_t> hpp::manipulation::graph::helper::Handles_t

◆ Object_t

typedef std::tuple<PlacementConstraint_t, Handles_t, std::size_t> hpp::manipulation::graph::helper::Object_t

Tuple representing an object as follows:

PlacementConstraint_t constraint to place the object
Handles_t list of handles of the object
std::size_t the index of this tuple in Objects_t.
Note
the index must be unique, as object equallity is checked using this index.

◆ Objects_t

typedef std::vector<Object_t> hpp::manipulation::graph::helper::Objects_t

◆ PlacementConstraint_t

typedef std::tuple<ImplicitPtr_t, LockedJoints_t> hpp::manipulation::graph::helper::PlacementConstraint_t

◆ Rules_t

typedef std::vector<Rule> hpp::manipulation::graph::helper::Rules_t

Enumeration Type Documentation

◆ GraspingCase

enum hpp::manipulation::graph::helper::GraspingCase

Enumerator
NoGrasp
GraspOnly
WithPreGrasp

◆ PlacementCase

enum hpp::manipulation::graph::helper::PlacementCase

Enumerator
NoPlace
PlaceOnly
WithPrePlace

Function Documentation

◆ createEdges()

template<int gCase>

Edges_t hpp::manipulation::graph::helper::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. gCase is a logical OR combination of GraspingCase and PlacementCase

When an argument is not relevant, use the default constructor of FoliatedManifold

◆ createLoopEdge()

EdgePtr_t hpp::manipulation::graph::helper::createLoopEdge	(	const std::string &	loopName,
		const StatePtr_t &	state,
		const size_type &	w,
		const bool	levelSet,
		const FoliatedManifold &	submanifoldDef = FoliatedManifold() )

◆ graphBuilder() [1/2]

void hpp::manipulation::graph::helper::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

Note: It is assumed that a gripper can grasp only one handle and each handle cannot be grasped by several grippers at the same time.

Parameters

[in,out] graph must be an initialized empty Graph.

◆ graphBuilder() [2/2]

GraphPtr_t hpp::manipulation::graph::helper::graphBuilder	(	const ProblemSolverPtr_t &	ps,
		const std::string &	graphName,
		const Strings_t &	griNames,
		const std::vector< ObjectDef_t > &	objs,
		const Strings_t &	envNames,
		const Rules_t &	rules,
		const value_type &	prePlaceWidth = 0.05 )

◆ graspManifold()

void hpp::manipulation::graph::helper::graspManifold	(	const GripperPtr_t &	gripper,
		const HandlePtr_t &	handle,
		FoliatedManifold &	grasp,
		FoliatedManifold &	pregrasp )

Create a waypoint edge taking into account:

grasp
placement
preplacement Create a waypoint edge taking into account
grasp
pregrasp
placement

◆ merge_nc()

NumericalConstraints_t hpp::manipulation::graph::helper::merge_nc	(	const NumericalConstraints_t &	a,
		const NumericalConstraints_t &	b )

◆ relaxedPlacementManifold()

void hpp::manipulation::graph::helper::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.

◆ strictPlacementManifold()

void hpp::manipulation::graph::helper::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

Classes

Typedefs

Enumerations

Functions