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virtual bool | initAll () |
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virtual bool | initialize () |
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virtual bool | finalize () |
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virtual bool | findCandidateSolutions () |
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virtual bool | findConfigurations () |
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virtual bool | findTrajectories () |
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virtual double | computeCost (int altId) |
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virtual bool | computeSolutionTrajectories (int alternativeId) |
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virtual bool | setToSolution (int solutionId, bool computeMP) |
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virtual bool | testConstraints (int alternativeId) |
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virtual bool | setAgents (std::multimap< std::string, std::string > agents_name) |
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virtual bool | setObjects (std::multimap< std::string, std::string > objects_name) |
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virtual bool | setPoints (std::multimap< std::string, p3d_point > points) |
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virtual bool | setdata (std::multimap< std::string, std::string > additionalData) |
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virtual std::string | getDescr () |
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virtual TaskSolution * | findAlternative (bool computeMP) |
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virtual std::string | getTextFromValues () |
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virtual void | showMainObjectRandomTransform () |
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virtual void | smoothSolution (int alternativeId) |
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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) |
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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) |
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virtual double | computeHeuristicCost () |
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p3d_traj * | compute_traj (confPtr_t q_init, confPtr_t q_goal, int &status) |
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virtual 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) |
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virtual bool | computeInverseKinematic (Robot *ag, p3d_matrix4 target_pos, confPtr_t &solution, int armId, bool fromCurPos) |
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p3d_traj * | compute_traj_using_localPath (confPtr_t q_init, confPtr_t q_goal, int &status) |
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int | getId () |
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void | setId (int id) |
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std::string | getType () |
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TasksId | getTypeId () |
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TaskSubSolution * | getSubSolAt (int alternativeId, int id) |
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int | getSubSolNumberOfTrajs (int alternativeId) |
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virtual double | getSSSizeLeft () |
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TaskAllSolutions * | getResult () |
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void | setResult (TaskAllSolutions *r) |
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void | setConstraints (TaskConstraints *c) |
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TaskConstraints * | getCurrConstraint () |
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| virtual std::vector< int > | getJointsIdsToUse () |
| | getJointsIdsToUse More...
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void | setGraph (Graph *g) |
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Graph * | getGraph () |
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void | setPlanTree (PlanTree *pt) |
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PlanTree * | getPlanTree () |
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void | setCurrentDataType (type_data pt) |
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type_data | getCurrentDataType () |
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std::vector< SurfaceAttachement > | createRecursiveAttachements (Robot *r) |
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std::vector< SurfaceAttachement > | createAndLoadSurfaceAttachements (Robot *r) |
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void | removeSurfaceAttachements (std::vector< SurfaceAttachement > s) |
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Public Member Functions inherited from Task
1.8.6