Class HRICS::MHO::HandOverDirectChecker

implement a checker wich tries neighbors confs when colliding

Class HRICS::MHO::HandOverWindowCheckerRRT

adds the possibility to smooth the RRT trajectory and check how to find the middle of it (this is not working well at the moment)

Member HRICS::MHO::MultiHandOverAgent::shoulderHeight ()

is dummy for robots. It's a nasty bug resolution waiting for a better way of computing object check (constant to be abble to HO through windows)

Member HRICS::MHO::MultiHandOverHeuristic::compute (MultiAgentCell *c1, unsigned int a1, MultiAgentCell *c2, unsigned int a2)

the target of the heuristic is always the same, save Dijkstra result (reverse)

Member HRICS::MHO::MultiHandOverSolution::handover_hri_costs

define what is included

Member HRICS::MHO::SolutionTools::handOverSideCosts (MultiAgentCell *c1, unsigned int a1, MultiAgentCell *c2, unsigned int a2, double *coming_time=0)

add the waiting time cost of the first agent if second is too long to come

Member HRICS::MultiAgentCell::computeCost ()

use different weights for travel distance and duration

Member HRICS::MultiAgentGrid::neighborSolution (unsigned int agent_1, unsigned int agent_2, std::pair< MultiAgentCell *, MultiAgentCell * > solution)

attribute for neighbourhood size (hardcoded)

Member HRICS::MultiAgentGrid::setAgents (std::vector< Robot * > &agents)

set agentsInGrid structures

Member HRICS::MultiHandOver::checkFrontierWithObject (FrontierCells &frontier)

(improve) set step size and distance threshold for object path finding

(improve) object orientation

improve the path search

Member HRICS::MultiHandOver::optimizeFrontier (MHO::MultiHandOverSolution *solution, unsigned int action_index, double keep_distance, double min_distance)

optimization comportement selection

Member HRICS::MultiHandOver::setOrientationObjectForHO (Eigen::Vector3d &dir1)

implement different ways of choosing the direction, current is having the smallest BB surface orthogonal to the direction, and the biggest surface in a vertical plane.

See Also: confForBBAxisAlign()