libmove3d-planners
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Public Member Functions | |
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) |
virtual TaskSolution * | findAlternative (bool computeMP) |
virtual bool | initAll () |
virtual bool | initialize () |
virtual bool | finalize () |
virtual bool | findCandidateSolutions () |
virtual bool | getRandomSol () |
virtual bool | findConfigurations () |
virtual bool | findTrajectories () |
virtual bool | computeSolutionTrajectories (int alternativeId) |
virtual bool | computeSolutionTrajectories (TaskSolution *TS) |
virtual TaskSolution * | createSolution (bool computeMP) |
virtual bool | setToSolution (int solutionId, bool computeMP) |
virtual bool | setAgents (std::multimap< std::string, std::string > agents_name) |
virtual bool | setObjects (std::multimap< std::string, std::string > objects_name) |
virtual bool | setPoints (std::multimap< std::string, p3d_point > points) |
virtual bool | setdata (std::multimap< std::string, std::string > additionalData) |
virtual void | smoothSolution (int alternativeId) |
virtual std::string | getDescr () |
virtual std::string | getTextFromValues () |
std::map< std::string, std::vector< double > > | getConfiguration (std::string configurationName) |
confPtr_t | getConf (Robot *r, std::map< int, std::vector< double > > toChange) |
confPtr_t | computeConfFromPoint (Robot *r, std::vector< double > v, int armId) |
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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 () |
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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) |
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) |
int | getId () |
void | setId (int id) |
std::string | getType () |
TasksId | getTypeId () |
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) |
Additional Inherited Members | |
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SolutionData * | SD |
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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 |
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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 |