Inheritance diagram for ManipulationTask:

Public Member Functions
virtual bool	findCandidateSolutions ()=0

virtual bool	getRandomSol ()=0

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)

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 *	mainObject

confPtr_t	graspConfClosed

confPtr_t	graspConfOpen

confPtr_t	approachConf

confPtr_t	escapeConf

int	currentTransfo

std::map< int, Robot * >	_hands

gpGrasp	_curGrasp

std::vector< std::pair< Robot *, configPt > >	virtualObjs

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

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

Member Function Documentation

bool ManipulationTask::checkAndSetArmAndObj ( )

check if the arm and objects coresponds

Returns: true if either the arm or the object are set, and set the one that is not false in case of cross inputs

bool ManipulationTask::checkArmAtt ( )

check if there is an attachement in _WS of the main object in the good hand

Returns: return true if there is.

bool ManipulationTask::checkAttachement ( )

check the attachements

Returns: true if attachement exist between mainagent and mainobject

TaskSolution * ManipulationTask::createAlternative ( bool computeMP )

randomly create a solution

Parameters

computeMP

Returns

TaskSolution * ManipulationTask::findAlternative ( bool computeMP )

virtual

get an alternative created by createAlternative and add it to results, or create a new one if no more are presents.

Parameters

computeMP

Returns

Reimplemented from PrivateTask.

int ManipulationTask::getArmIdFromAtt ( )

use the attachement to find the object

Returns: the arm id of the arm to which the mainObject is attached

Robot * ManipulationTask::getMainObjectFromAtt ( )

use the arm to find the object attached

Returns: the object attached to the arm

The documentation for this class was generated from the following files:

src/GTP/Tasks/manipulationTable/manipulationTask.hpp
src/GTP/Tasks/manipulationTable/manipulationTask.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation