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libmove3d-planners
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Public Member Functions | |
| ConfGenerator (Robot *rob, Robot *human) | |
| void | setHuman (Robot *human) |
| Setters. | |
| void | setRobot (Robot *rob) |
| std::vector< Eigen::Vector3d > | getOTPList () |
| bool | computeRobotIkForGrabing (configPt &q) |
| Compute a configuration for hand-over. | |
| bool | computeRobotIkForGrabing (configPt &q, const Eigen::Vector3d &point) |
| Compute a configuration for handing over an object for the arm Dofs the point in the workspace the configuration of the robot. | |
| bool | computeHandoverConfigFromList (std::pair< confPtr_t, confPtr_t > &best_handover_conf, double &best_cost) |
| Compute a handover configuration by iterating through the set of configurations that has been pre-loaded. | |
| bool | initialize (std::string filename, HRICS::Natural *reachableSpace) |
| Initializes the list config generator. | |
| bool | sortConfig (std::vector< HRICS::ConfigHR > &configList, int nbNode, bool isStanding, bool isSlice, HRICS::Natural *reachableSpace) |
| load and return configs stored in filename | |
| void | addToList (Eigen::Vector3d WSPoint) |
| Adding a 3D point to the OTP list This function is used when loading a set of OTPs in order to test them. | |
| Eigen::Vector3d | setCurOTP (Eigen::Vector3d WSPoint) |
| Change the current OTP. More... | |
| std::vector< HRICS::ConfigHR > | getConfList () |
| return m_configList | |
| void | drawOTPList (bool value) |
| draw the OTP list | |
| bool | placeRobot () |
| Compute GIK and place robot base. | |
| std::vector< HRICS::ConfigHR > | addConfToList () |
| Adding the actual configuration to m_configList. | |
| void | removeLastConf () |
| removing the last configuration of m_configList | |
| void | clearConfList () |
| Clear m_configList;. | |
| void | saveToXml (std::string filename) |
| save what's in m_configList to the filename file. | |
| std::vector< HRICS::ConfigHR > | loadFromXml (std::string filename) |
| load and return configs stored in filename | |
| double | getConfigCost (HRICS::Natural *reachableSpace) |
| compute the configuration cost | |
| bool | generateConfiguration (int nbConfs) |
| bool | addConstraintToList (constrainedLink CL) |
| Eigen::Vector3d ConfGenerator::setCurOTP | ( | Eigen::Vector3d | WSPoint | ) |
Change the current OTP.
Used when choosing new configurations
1.8.6