reachable-workspace.hpp File Reference

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/multibody/geometry.hpp"
#include "pinocchio/algorithm/geometry.hpp"
#include "pinocchio/extra/config.hpp"
#include <Eigen/Core>
#include "pinocchio/extra/reachable-workspace.hxx"

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Classes
struct	pinocchio::ReachableSetParams
	Parameters for the reachable space algorithm. More...
struct	pinocchio::ReachableSetResults
	Structure containing the return value for the reachable algorithm. More...

Namespaces
	pinocchio
	Main pinocchio namespace.
	pinocchio::internal

Functions
PINOCCHIO_EXTRA_DLLAPI void	pinocchio::internal::buildConvexHull (ReachableSetResults &res)
	Computes the convex hull using qhull associated with the vertex stored in res. More...
void	pinocchio::internal::computeJointVel (const Eigen::VectorXd &res1, const Eigen::VectorXd &res2, const Eigen::VectorXi &comb, Eigen::VectorXd &qv)
	Computes the joint configuration associated with the permutation results stored in res1 and res2. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType , class FilterFunction >
void	pinocchio::internal::computeVertex (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, FilterFunction config_filter, Eigen::MatrixXd &vertex, const ReachableSetParams &params=ReachableSetParams())
	Samples points to create the reachable workspace that will respect mechanical limits of the model as well as the time horizon. More...
void	pinocchio::internal::generateCombination (const int n, const int k, Eigen::VectorXi &indices)
	Return a subsequence of length k of elements from range 0 to n. Inspired by https://docs.python.org/3/library/itertools.html#itertools.combinations. Indices table will hold the results. More...
void	pinocchio::internal::productCombination (const Eigen::VectorXd &element, const int repeat, Eigen::VectorXi &indices, Eigen::VectorXd &combination)
	Cartesian product of input element with itself. Number of repetition is specified with repeat argument. Inspired by https://docs.python.org/3/library/itertools.html#itertools.product. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	pinocchio::reachableWorkspace (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, Eigen::MatrixXd &vertex, const ReachableSetParams &params=ReachableSetParams())
	Computes the reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity. More...
template<typename Scalar , int Options, template< typename, int > class JointCollectionTpl, typename ConfigVectorType >
void	pinocchio::reachableWorkspaceHull (const ModelTpl< Scalar, Options, JointCollectionTpl > &model, const Eigen::MatrixBase< ConfigVectorType > &q0, const double time_horizon, const int frame_id, ReachableSetResults &res, const ReachableSetParams &params=ReachableSetParams())
	Computes the convex Hull reachable workspace on a fixed time horizon. For more information, please see https://gitlab.inria.fr/auctus-team/people/antunskuric/pycapacity. More...