Introduction

This package implements a solver for manipulation planning problems. A manipulation planning problem is defined by:

Device: a collection of several Device with grippers and handles,
Graph: A graph of constraints defining the rules of a manipulation problem.

ManipulationPlanner implements a RRT-based algorithm to solve manipulation planning problems.

Constraint graph

The graph of constraint, also referred to as constraint graph, represents the rules of a manipulation problem. The component of the graph are:

graph::State represents a state of the Robot with constraints,
graph::Edge represents a transition between two graph::State with parametric constraints.

graph::State contains a set of StraightPath lying in this graph::State.

graph::Edge has methods graph::Edge::state() to tell in which graph::State a corresponding path lyes graph::Edge also contains two sets of Constraint:

graph::Edge::configConstraint() returns a ConfigProjector::rightHandSide,
graph::Edge::pathConstraint() returns a Path represented by this graph::Edge.

Note: For implementation details, see graph::Graph. For more information about parametric and non-parametric constraints, see ConfigProjector

Manipulation planner

ManipulationPlanner class implements an algorithm based on RRT. See this master thesis for details about the algorithm.