30#ifndef HPP_CORE_FWD_HH
31#define HPP_CORE_FWD_HH
34#include <hpp/constraints/fwd.hh>
37#include <hpp/util/pointer.hh>
92typedef hpp::pinocchio::Body
Body;
96typedef shared_ptr<AllCollisionsValidationReport>
119 template <
typename T>
121 const std::shared_ptr<T>& rhs)
const {
122 return (*lhs) < (*rhs);
125typedef std::set<ConnectedComponentPtr_t, SharedComparator>
208typedef shared_ptr<const KinodynamicOrientedPath>
227typedef std::map<std::string, constraints::ImplicitPtr_t>
232typedef std::map<std::string, CenterOfMassComputationPtr_t>
242template <
int _PolynomeBasis,
int _Order>
251namespace continuousValidation {
273namespace nearestNeighbor {
280namespace pathOptimization {
299namespace pathPlanner {
308namespace pathValidation {
316typedef shared_ptr<CollisionPathValidationReport>
318typedef std::vector<CollisionPathValidationReport>
323namespace pathProjector {
334namespace steeringMethod {
343namespace problemTarget {
350namespace configurationShooter {
363namespace continuousCollisionChecking = continuousValidation;
Definition: bi-rrt-planner.hh:43
Definition: collision-validation.hh:47
Definition: config-projector.hh:66
Definition: config-validation.hh:46
Definition: config-validations.hh:45
Definition: configuration-shooter.hh:45
Definition: connected-component.hh:43
Definition: constraint-set.hh:47
Definition: constraint.hh:49
Definition: continuous-validation.hh:97
Generic implementation of RRT algorithm.
Definition: diffusing-planner.hh:41
Computation of distances between pairs of objects.
Definition: distance-between-objects.hh:38
Abstract class for distance between configurations.
Definition: distance.hh:45
Definition: dubins-path.hh:56
Definition: interpolated-path.hh:52
report returned when a configuration is not within the bounds
Definition: joint-bound-validation.hh:42
Definition: joint-bound-validation.hh:81
Definition: kinodynamic-distance.hh:51
Definition: kinodynamic-oriented-path.hh:42
Definition: kinodynamic-path.hh:59
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
Definition: path-optimizer.hh:44
Definition: path-planner.hh:45
This class projects a path using constraints.
Definition: path-projector.hh:38
Definition: path-validation.hh:51
Definition: path-validations.hh:46
Concatenation of several paths.
Definition: path-vector.hh:43
Definition: plan-and-optimize.hh:46
Definition: problem-solver.hh:78
Definition: problem-target.hh:45
Definition: problem.hh:57
Definition: roadmap.hh:46
Definition: steering-method.hh:48
Definition: straight-path.hh:52
Definition: subchain-path.hh:44
Definition: time-parameterization.hh:37
Definition: validation-report.hh:47
Definition: visibility-prm-planner.hh:44
Definition: weighed-distance.hh:44
Definition: gaussian.hh:45
Definition: body-pair-collision.hh:62
Definition: dichotomy.hh:53
Definition: interval-validation.hh:67
Definition: progressive.hh:54
Definition: solid-solid-collision.hh:55
Definition: reeds-shepp.hh:46
Definition: config-optimization.hh:71
Definition: gradient-based.hh:45
Definition: partial-shortcut.hh:63
Definition: random-shortcut.hh:49
Definition: simple-shortcut.hh:48
Definition: simple-time-parameterization.hh:185
Definition: k-prm-star.hh:40
Definition: dichotomy.hh:39
Definition: progressive.hh:37
Definition: recursive-hermite.hh:42
Definition: discretized.hh:47
Definition: hermite.hh:42
Definition: goal-configurations.hh:46
Definition: task-target.hh:50
Definition: interpolated-steering-method.hh:45
Definition: steering-kinodynamic.hh:56
Definition: reeds-shepp.hh:47
shared_ptr< Gaussian > GaussianPtr_t
Definition: fwd.hh:354
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:352
HPP_PREDEF_CLASS(Uniform)
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:260
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:257
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:263
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:261
HPP_PREDEF_CLASS(Dichotomy)
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:253
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:258
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:255
HPP_PREDEF_CLASS(ReedsShepp)
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:268
Basic * BasicPtr_t
Definition: fwd.hh:277
KDTree * KDTreePtr_t
Definition: fwd.hh:276
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:286
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:294
HPP_PREDEF_CLASS(RandomShortcut)
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:296
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:288
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:290
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:284
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:292
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:282
HPP_PREDEF_CLASS(kPrmStar)
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:301
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:329
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:331
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:325
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:327
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:310
HPP_PREDEF_CLASS(Discretized)
HPP_PREDEF_CLASS(Hermite)
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:246
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:245
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:346
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:347
HPP_PREDEF_CLASS(GoalConfigurations)
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:336
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:340
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:338
HPP_PREDEF_CLASS(Interpolated)
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:202
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:91
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:238
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:134
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:231
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:97
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:188
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:193
pinocchio::value_type value_type
Definition: fwd.hh:173
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:197
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:199
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:183
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:160
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:230
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:192
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:168
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:306
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:140
pinocchio::vector3_t vector3_t
Definition: fwd.hh:164
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:201
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:214
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:361
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:159
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:189
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:210
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:250
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:155
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:154
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:181
pinocchio::Device Device_t
Definition: fwd.hh:132
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:128
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition: fwd.hh:126
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:153
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:194
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:152
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:146
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:190
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:169
CollisionPair CollisionPair_t
Definition: fwd.hh:237
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:101
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:222
constraints::LockedJoint LockedJoint
Definition: fwd.hh:157
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:109
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:112
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:103
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:204
Edge * EdgePtr_t
Definition: fwd.hh:143
constraints::segments_t segments_t
Definition: fwd.hh:178
const FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:102
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:203
hpp::pinocchio::Body Body
Definition: fwd.hh:92
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:272
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:220
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:322
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:149
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:191
std::list< Edge * > Edges_t
Definition: fwd.hh:144
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:209
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:360
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:225
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:198
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:115
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:139
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:110
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:184
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:195
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:221
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:212
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:176
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:206
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:182
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:229
KDTree * KDTreePtr_t
Definition: fwd.hh:156
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
pinocchio::vector_t vector_t
Definition: fwd.hh:219
constraints::segment_t segment_t
Definition: fwd.hh:177
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:150
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:111
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:171
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:211
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:228
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:93
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:135
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:100
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:147
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:205
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:307
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:131
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:174
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:319
pinocchio::size_type size_type
Definition: fwd.hh:172
Node * NodePtr_t
Definition: fwd.hh:179
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:94
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:218
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:317
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:136
constraints::ComparisonType ComparisonType
Definition: fwd.hh:89
constraints::Shape_t Shape_t
Definition: fwd.hh:359
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:167
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:223
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:113
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:224
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:137
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:196
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:145
pinocchio::Transform3f Transform3f
Definition: fwd.hh:216
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:180
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:200
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:158
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:138
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:108
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:233
HPP_PREDEF_CLASS(BiRRTPlanner)
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:114
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:116
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:213
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:141
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:207
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:187
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:88
pinocchio::Joint Joint
Definition: fwd.hh:148
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:166
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:133
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:226
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:162
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:130
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:95
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:170
constraints::matrix6_t matrix6_t
Definition: fwd.hh:163
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:165
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:129
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:142
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:186
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:315
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
pinocchio::matrix_t matrix_t
Definition: fwd.hh:161
Definition: bi-rrt-planner.hh:35
Definition: collision-validation-report.hh:84
Definition: collision-pair.hh:45
Path validation report used for standard collision checking.
Definition: collision-path-validation-report.hh:43
Definition: collision-validation-report.hh:47
Definition: path-validation-report.hh:45
bool operator()(const std::shared_ptr< T > &lhs, const std::shared_ptr< T > &rhs) const
Definition: fwd.hh:120