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libmove3d-planners
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libmove3d-planners
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Public Member Functions | |
| virtual bool | findCandidateSolutions ()=0 |
| virtual bool | getRandomSol ()=0 |
| bool | setTargetAgent (std::multimap< std::string, std::string > agents_name) |
| bool | computeConf (confPtr_t &approachC, p3d_matrix4 objectPosMat, gpGrasp grasp) |
| compute the mainAgent conf based on a grasp and the object position More... | |
| Robot * | getTargetAgent () |
 Public Member Functions inherited from ManipulationTask | |
| virtual bool | setToSolution (int solutionId, bool computeMP) |
| virtual TaskSolution * | createSolution (bool computeMP)=0 |
| virtual bool | computeSolutionTrajectories (int alternativeId) |
| virtual bool | computeSolutionTrajectories (TaskSolution *ts)=0 |
| overides computeSolutionTrajectories(int solutionId) | |
| virtual bool | run (std::multimap< std::string, std::string > agents_name, std::multimap< std::string, std::string > objects_name, std::multimap< std::string, p3d_point > point3d, std::multimap< std::string, std::string > additionalData, WorldState *WS, bool computeMP) |
| TaskSolution * | findAlternative (bool computeMP) |
| get an alternative created by createAlternative and add it to results, or create a new one if no more are presents. More... | |
| TaskSolution * | createAlternative (bool computeMP) |
| randomly create a solution More... | |
| std::vector< confPtr_t > | compute_manipulation_data (int armId, Robot *object, gpGrasp grasp) |
| bool | setMainObject (std::multimap< std::string, std::string > objects_name) |
| Robot * | getMainObject () |
| virtual void | showMainObjectRandomTransform () |
| bool | attachObject () |
| bool | detachObject () |
| bool | checkHRIAgent (Robot *r) |
| bool | setMainAgentHand () |
| bool | isObjectInCollision (Robot *supportObject) |
| bool | isHandInCollision () |
| void | removeVirtualObjects () |
| void | moveBackVirtualObjects () |
| bool | checkAttachement () |
| check the attachements More... | |
| bool | checkAndSetArmAndObj () |
| check if the arm and objects coresponds More... | |
| Robot * | getMainObjectFromAtt () |
| use the arm to find the object attached More... | |
| int | getArmIdFromAtt () |
| use the attachement to find the object More... | |
| bool | checkArmAtt () |
| check if there is an attachement in _WS of the main object in the good hand More... | |
| Public Member Functions inherited from PrivateTask | |
| virtual bool | initAll () |
| virtual bool | initialize () |
| virtual bool | finalize () |
| virtual bool | testConstraints (int alternativeId) |
| virtual bool | testConstraints (TaskSolution *TS) |
| bool | isPathStraight (Robot *r, p3d_traj *t) |
| virtual double | computeCost (int altId) |
| armLabel | getArmLabelFromId (int armId) |
| bool | setArmToUse (armLabel arm_t) |
| bool | setArmToUse (int armId) |
| bool | initMotionPlaner (Robot *rob) |
| p3d_traj * | compute_traj (confPtr_t q_init, confPtr_t q_goal, Robot *object, int &status) |
| p3d_traj * | compute_traj_using_localPath (confPtr_t q_init, confPtr_t q_goal, Robot *object, int &status, bool testingStraightPath=true) |
| virtual bool | attachObject (Robot *rob, Robot *obj, bool attach) |
| virtual bool | attachObject (Robot *rob, Robot *obj, bool attach, int armId) |
| bool | computeInverseKinematic (Robot *ag, p3d_matrix4 target_pos, confPtr_t &solution, int armId, bool fromCurPos) |
| bool | computeManipulationConfs (confPtr_t &approachC, confPtr_t &graspC, confPtr_t &graspOC, confPtr_t &escapeC, p3d_matrix4 objectPosMat, gpGrasp grasp, p3d_vector3 approachDir, double approachDist, p3d_vector3 escapeDir, double escapeDist) |
| int | getArmId () |
| bool | setMainAgent (std::multimap< std::string, std::string > agents_name) |
| Robot * | getMainAgent () |
| virtual bool | isPossibleMainAgent (Robot *r) |
| void | openGripper (confPtr_t &q, bool open, int armId) |
| void | activateFingertipCol (bool val, Robot *robi, Robot *object, Robot *supportObj) |
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virtual std::pair < Sem::PlanningPart, bool > | getPlanPartToUse () |
| Public Member Functions inherited from Task | |
| virtual bool | findConfigurations ()=0 |
| virtual bool | findTrajectories ()=0 |
| virtual bool | setAgents (std::multimap< std::string, std::string > agents_name)=0 |
| virtual bool | setObjects (std::multimap< std::string, std::string > objects_name)=0 |
| virtual bool | setPoints (std::multimap< std::string, p3d_point > points)=0 |
| virtual bool | setdata (std::multimap< std::string, std::string > additionalData)=0 |
| virtual double | heuristic (std::multimap< std::string, std::string > agents_name, std::multimap< std::string, std::string > objects_name, std::multimap< std::string, p3d_point > point3d, std::multimap< std::string, std::string > additionalData, WorldState *WS, bool computeMP) |
| virtual double | computeHeuristicCost () |
| p3d_traj * | compute_traj (confPtr_t q_init, confPtr_t q_goal, int &status) |
| p3d_traj * | compute_traj_using_localPath (confPtr_t q_init, confPtr_t q_goal, int &status) |
| virtual void | smoothSolution (int alternativeId)=0 |
| int | getId () |
| void | setId (int id) |
| std::string | getType () |
| TasksId | getTypeId () |
| virtual std::string | getDescr ()=0 |
| virtual std::string | getTextFromValues ()=0 |
| TaskSubSolution * | getSubSolAt (int alternativeId, int id) |
| int | getSubSolNumberOfTrajs (int alternativeId) |
| virtual double | getSSSizeLeft () |
| TaskAllSolutions * | getResult () |
| void | setResult (TaskAllSolutions *r) |
| void | setConstraints (TaskConstraints *c) |
| TaskConstraints * | getCurrConstraint () |
| virtual std::vector< int > | getJointsIdsToUse () |
| getJointsIdsToUse More... | |
| void | setGraph (Graph *g) |
| Graph * | getGraph () |
| void | setPlanTree (PlanTree *pt) |
| PlanTree * | getPlanTree () |
| void | setCurrentDataType (type_data pt) |
| type_data | getCurrentDataType () |
| std::vector< SurfaceAttachement > | createRecursiveAttachements (Robot *r) |
| std::vector< SurfaceAttachement > | createAndLoadSurfaceAttachements (Robot *r) |
| void | removeSurfaceAttachements (std::vector< SurfaceAttachement > s) |
Protected Attributes | |
| Robot * | targetAgent |
| Protected Attributes inherited from ManipulationTask | |
| Robot * | mainObject |
| confPtr_t | graspConfClosed |
| confPtr_t | graspConfOpen |
| confPtr_t | approachConf |
| confPtr_t | escapeConf |
| int | currentTransfo |
| std::map< int, Robot * > | _hands |
| gpGrasp | _curGrasp |
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std::vector< std::pair< Robot *, configPt > > | virtualObjs |
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std::vector< std::pair< double, TaskSolution * > > | exploredSolutions |
| bool | _noArm |
| Protected Attributes inherited from PrivateTask | |
| std::vector< GTPCell > | candidatePoints |
| Robot * | mainAgent |
| armLabel | m_arm |
| gpHand_type | handType |
| int | _armId |
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std::map< std::string, ManipulationPlanner * > | ManipPlMap |
| std::vector< HRI_AGENT_TYPE > | _possibleMainAgentType |
| Protected Attributes inherited from Task | |
| int | task_id |
| std::string | type |
| TasksId | typeId |
| TaskAllSolutions * | result |
| WorldState * | _WS |
| int | nbMaxLoops |
| TaskConstraints * | _currConstraints |
| int | _returnReportcount |
| int | _returnReportcountMax |
| Graph * | _taskGraph |
| PlanTree * | _planTree |
| type_data | currentDataType |
Additional Inherited Members | |
| Public Attributes inherited from Task | |
| SolutionData * | SD |
| bool CooperativeTask::computeConf | ( | confPtr_t & | approachC, |
| p3d_matrix4 | objectPosMat, | ||
| gpGrasp | grasp | ||
| ) |
compute the mainAgent conf based on a grasp and the object position
| approachC:output | |
| objectPosMat:input | |
| grasp:input |
1.8.6