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libmove3d-planners
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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) |
| bool | initAll () |
| bool | initialize () |
| bool | finalize () |
| bool | findCandidateSolutions () |
| bool | getRandomSol () |
| bool | findConfigurations () |
| bool | findTrajectories () |
| bool | computeSolutionTrajectories (int alternativeId) |
| bool | setToSolution (int solutionId, bool computeMP) |
| double | computeCost (int altId) |
| bool | setAgents (std::multimap< std::string, std::string > agents_name) |
| bool | setObjects (std::multimap< std::string, std::string > objects_name) |
| bool | setPoints (std::multimap< std::string, p3d_point > points) |
| bool | setdata (std::multimap< std::string, std::string > additionalData) |
| void | smoothSolution (int alternativeId) |
| std::string | getDescr () |
| std::string | getTextFromValues () |
| int | checkHandAttachement () |
| confPtr_t | getRandomArmPosFromFileBasedOnConf (navigateToFileType fileType, confPtr_t q_tmp) |
 Public Member Functions inherited from PrivateTask | |
| virtual bool | testConstraints (int alternativeId) |
| virtual bool | testConstraints (TaskSolution *TS) |
| bool | isPathStraight (Robot *r, p3d_traj *t) |
| virtual TaskSolution * | findAlternative (bool computeMP) |
| 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 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) |
Static Public Member Functions | |
| static bool | compareCells (GTP2DCell *i, GTP2DCell *j) |
| static double | combineCosts (double distTraveled, double angleAndRot, double distToObj) |
Additional Inherited Members | |
| Public Attributes inherited from Task | |
| SolutionData * | SD |
| 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 |
1.8.6