Task Class Reference

Inheritance diagram for Task:

Public Member Functions
virtual bool	initAll ()=0
virtual bool	initialize ()=0
virtual bool	finalize ()=0
virtual bool	findCandidateSolutions ()=0
virtual bool	findConfigurations ()=0
virtual bool	findTrajectories ()=0
virtual bool	setToSolution (int solutionId, bool computeMP)=0
virtual bool	testConstraints (int alternativeId)=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 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 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 TaskSolution *	findAlternative (bool computeMP)=0
virtual double	computeCost (int altId)=0
virtual double	computeHeuristicCost ()
virtual bool	computeSolutionTrajectories (int alternativeId)=0
p3d_traj *	compute_traj (confPtr_t q_init, confPtr_t q_goal, int &status)
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)
virtual bool	computeInverseKinematic (Robot *ag, p3d_matrix4 target_pos, confPtr_t &solution, int armId, bool fromCurPos)
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)

Public Attributes
SolutionData *	SD

Protected Attributes
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

Member Function Documentation

virtual std::vector<int> Task::getJointsIdsToUse ( )

inlinevirtual

getJointsIdsToUse

Returns

use API numbering convention (joint 0 is base)

See Also

Joint::getJointId() (in p3d, the joint 0 is a fixed joint)

Reimplemented in Pick.

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

• src/GTP/Tasks/task.hpp
• src/GTP/Tasks/task.cpp