hpp-wholebody-step  4.12.0
Path planning for humanoid robot by sliding on the groud.
fwd.hh
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1 // This file is part of hpp-wholebody-step.
7 // hpp-wholebody-step-planner is free software: you can redistribute it
8 // and/or modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation, either version
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11 //
12 // hpp-wholebody-step-planner is distributed in the hope that it will be
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14 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Lesser Public License for more details. You should have
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17 // hpp-wholebody-step-planner. If not, see
18 // <http://www.gnu.org/licenses/>.
19 
20 #ifndef HPP_WHOLEBODY_STEP_FWD_HH
21 # define HPP_WHOLEBODY_STEP_FWD_HH
22 
23 # include <hpp/core/fwd.hh>
24 # include <hpp/walkgen/fwd.hh>
26 # include <hpp/constraints/symbolic-function.hh>
27 
28 namespace hpp {
29  namespace wholebodyStep {
31 
39  typedef constraints::Traits<constraints::JointFrame>::Ptr_t JointFramePtr_t;
40  typedef constraints::SymbolicFunction<JointFrame> JointFrameFunction;
41  typedef constraints::SymbolicFunction<JointFrame>::Ptr_t JointFrameFunctionPtr_t;
43  typedef constraints::SymbolicFunction<PointInJoint> PointInJointFunction;
45  typedef constraints::SymbolicFunction<PointCom> PointComFunction;
46  typedef constraints::SymbolicFunction<PointCom>::Ptr_t PointComFunctionPtr_t;
47 
50 
51  typedef core::Path Path;
57 
59 
67 
78 
83 
85  typedef std::shared_ptr <SmallSteps> SmallStepsPtr_t;
87  typedef std::shared_ptr <TimeDependantPath> TimeDependantPathPtr_t;
88  } // namespace wholebodyStep
89 } // namespace hpp
90 #endif // HPP_WHOLEBODY_STEP_FWD_HH
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:65
core::Path Path
Definition: fwd.hh:51
pinocchio::HumanoidRobotPtr_t HumanoidRobotPtr_t
Definition: fwd.hh:62
constraints::PointCom PointCom
Definition: fwd.hh:44
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:58
constraints::Traits< constraints::JointFrame >::Ptr_t JointFramePtr_t
Definition: fwd.hh:39
constraints::PointInJoint PointInJoint
Definition: fwd.hh:42
Definition: fwd.hh:28
core::vectorOut_t vectorOut_t
Definition: fwd.hh:75
constraints::JointFrame JointFrame
Definition: fwd.hh:38
constraints::SymbolicFunction< JointFrame > JointFrameFunction
Definition: fwd.hh:40
core::StraightPath StraightPath
Definition: fwd.hh:55
constraints::SymbolicFunction< PointInJoint > PointInJointFunction
Definition: fwd.hh:43
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:30
walkgen::FootPrint FootPrint
Definition: fwd.hh:79
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:49
core::value_type value_type
Definition: fwd.hh:76
core::ConstraintSet ConstraintSet
Definition: fwd.hh:32
core::vector_t vector_t
Definition: fwd.hh:74
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:36
core::StraightPathPtr_t StraightPathPtr_t
Definition: fwd.hh:56
core::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:37
pinocchio::HumanoidRobot HumanoidRobot
Definition: fwd.hh:63
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:61
constraints::SymbolicFunction< PointCom >::Ptr_t PointComFunctionPtr_t
Definition: fwd.hh:46
core::vector3_t vector3_t
Definition: fwd.hh:73
core::PathPtr_t PathPtr_t
Definition: fwd.hh:52
walkgen::SplineBasedPtr_t SplineBasedPtr_t
Definition: fwd.hh:80
std::shared_ptr< TimeDependantPath > TimeDependantPathPtr_t
Definition: fwd.hh:87
core::Transform3f Transform3f
Definition: fwd.hh:71
core::PathVector PathVector
Definition: fwd.hh:53
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:35
core::matrix3_t matrix3_t
Definition: fwd.hh:72
Definition: time-dependant-path.hh:30
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:33
core::ConfigProjector ConfigProjector
Definition: fwd.hh:34
core::PathVectorPtr_t PathVectorPtr_t
Definition: fwd.hh:54
core::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:70
constraints::SymbolicFunction< PointCom > PointComFunction
Definition: fwd.hh:45
core::size_type size_type
Definition: fwd.hh:77
core::Configuration_t Configuration_t
Definition: fwd.hh:68
core::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:69
walkgen::CubicBSplinePtr_t CubicBSplinePtr_t
Definition: fwd.hh:82
std::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:85
HPP_PREDEF_CLASS(SmallSteps)
Definition: small-steps.hh:34
constraints::SymbolicFunction< JointFrame >::Ptr_t JointFrameFunctionPtr_t
Definition: fwd.hh:41
core::ProblemConstPtr_t ProblemConstPtr_t
Definition: fwd.hh:48
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:66
walkgen::SplineBased SplineBased
Definition: fwd.hh:81