hpp-walkgen  4.12.0
Walk generator for hpp framework
fwd.hh
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1 //
2 // Copyright (c) 2015 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-walkgen
6 // hpp-walkgen is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-walkgen is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-walkgen If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_WALKGEN_FWD_HH
20 # define HPP_WALKGEN_FWD_HH
21 
22 # include <vector>
23 # include <Eigen/Core>
24 # include <hpp/core/fwd.hh>
26 
27 namespace hpp {
28  namespace walkgen {
30  typedef std::shared_ptr <CubicBSpline> CubicBSplinePtr_t;
32  typedef std::shared_ptr <SplineBased> SplineBasedPtr_t;
34  typedef std::shared_ptr <Step> StepPtr_t;
36  typedef std::shared_ptr <SupportFoot> SupportFootPtr_t;
37  class FootPrint;
38 
39  typedef double value_type;
40  typedef Eigen::Matrix <value_type, Eigen::Dynamic, 1> vector_t;
41  typedef Eigen::Matrix<value_type, Eigen::Dynamic, Eigen::Dynamic> matrix_t;
42  typedef matrix_t::Index size_type;
43  typedef std::vector <value_type> Times_t;
44  typedef Eigen::Matrix <value_type, 2, 1> vector2_t;
45  typedef Eigen::Matrix <value_type, 1, 1> vector1_t;
46 
48  typedef core::Path Path;
56  } // namespace walkgen
57 } // namespace hpp
58 
59 #endif // HPP_WALKGEN_FWD_HH
roboptim::trajectory::CubicBSpline CubicBSpline
Definition: fwd.hh:29
Position of a foot on the (horizontal) ground.
Definition: foot-print.hh:30
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:44
matrix_t::Index size_type
Definition: fwd.hh:42
Eigen::Matrix< value_type, 1, 1 > vector1_t
Definition: fwd.hh:45
core::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:52
std::shared_ptr< Step > StepPtr_t
Definition: fwd.hh:34
Definition: bspline-based.hh:28
double value_type
Definition: fwd.hh:37
std::shared_ptr< SupportFoot > SupportFootPtr_t
Definition: fwd.hh:36
std::shared_ptr< CubicBSpline > CubicBSplinePtr_t
Definition: fwd.hh:30
Definition: bspline-based.hh:129
std::shared_ptr< SplineBased > SplineBasedPtr_t
Definition: fwd.hh:32
Definition: foot-trajectory.hh:33
Definition: foot-trajectory.hh:118
core::PathPtr_t PathPtr_t
Definition: fwd.hh:49
core::PathVectorPtr_t PathVectorPtr_t
Definition: fwd.hh:50
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
Definition: fwd.hh:40
core::Path Path
Definition: fwd.hh:48
core::DevicePtr_t DevicePtr_t
Definition: fwd.hh:55
std::vector< value_type > Times_t
Definition: fwd.hh:43
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:54
HPP_PREDEF_CLASS(SplineBased)
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > matrix_t
Definition: fwd.hh:41
core::PathVector PathVector
Definition: fwd.hh:51
core::Transform3f Transform3f
Definition: fwd.hh:47
core::Configuration_t Configuration_t
Definition: fwd.hh:53