hpp-core 4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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fwd.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux, Joseph Mirabel
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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29
30#ifndef HPP_CORE_FWD_HH
31#define HPP_CORE_FWD_HH
32
33#include <deque>
34#include <hpp/constraints/fwd.hh>
35#include <hpp/core/config.hh>
37#include <hpp/util/pointer.hh>
38#include <list>
39#include <map>
40#include <set>
41#include <vector>
42
43namespace hpp {
44namespace core {
59class Edge;
60HPP_PREDEF_CLASS(ExtractedPath);
64class Node;
73class ProblemSolver;
79HPP_PREDEF_CLASS(ReedsSheppPath);
86class KDTree;
87
88typedef constraints::ComparisonTypes_t ComparisonTypes_t;
89typedef constraints::ComparisonType ComparisonType;
90
91typedef shared_ptr<BiRRTPlanner> BiRRTPlannerPtr_t;
92typedef hpp::pinocchio::Body Body;
93typedef hpp::pinocchio::BodyPtr_t BodyPtr_t;
94typedef shared_ptr<CollisionValidation> CollisionValidationPtr_t;
95typedef shared_ptr<CollisionValidationReport> CollisionValidationReportPtr_t;
96typedef shared_ptr<AllCollisionsValidationReport>
98typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
99typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
100typedef pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t;
101typedef pinocchio::FclCollisionObject FclCollisionObject;
104typedef shared_ptr<FclCollisionObject> FclCollisionObjectSharePtr_t;
105
106typedef pinocchio::Configuration_t Configuration_t;
107typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
108typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
109typedef pinocchio::ConfigurationPtr_t ConfigurationPtr_t;
110typedef std::vector<ConfigurationPtr_t> Configurations_t;
111typedef Configurations_t::iterator ConfigIterator_t;
112typedef Configurations_t::const_iterator ConfigConstIterator_t;
113typedef shared_ptr<ConfigurationShooter> ConfigurationShooterPtr_t;
114typedef shared_ptr<ConfigProjector> ConfigProjectorPtr_t;
115typedef shared_ptr<ConfigValidation> ConfigValidationPtr_t;
116typedef shared_ptr<ConfigValidations> ConfigValidationsPtr_t;
117typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
118
120 template <typename T>
121 bool operator()(const std::shared_ptr<T>& lhs,
122 const std::shared_ptr<T>& rhs) const {
123 return (*lhs) < (*rhs);
124 }
125};
126typedef std::set<ConnectedComponentPtr_t, SharedComparator>
128
129typedef shared_ptr<Constraint> ConstraintPtr_t;
130typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
131typedef shared_ptr<const ConstraintSet> ConstraintSetConstPtr_t;
132typedef std::vector<ConstraintPtr_t> Constraints_t;
133typedef pinocchio::Device Device_t;
134typedef pinocchio::DevicePtr_t DevicePtr_t;
135typedef pinocchio::DeviceWkPtr_t DeviceWkPtr_t;
136typedef pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t;
137typedef std::deque<DevicePtr_t> Devices_t;
138typedef constraints::DifferentiableFunction DifferentiableFunction;
139typedef constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
140typedef shared_ptr<DiffusingPlanner> DiffusingPlannerPtr_t;
141typedef shared_ptr<Distance> DistancePtr_t;
142typedef shared_ptr<DistanceBetweenObjects> DistanceBetweenObjectsPtr_t;
143typedef pinocchio::DistanceResults_t DistanceResults_t;
145typedef std::list<Edge*> Edges_t;
146typedef shared_ptr<ExtractedPath> ExtractedPathPtr_t;
147typedef shared_ptr<SubchainPath> SubchainPathPtr_t;
148typedef pinocchio::JointJacobian_t JointJacobian_t;
149typedef pinocchio::Joint Joint;
150typedef pinocchio::JointConstPtr_t JointConstPtr_t;
151typedef pinocchio::JointPtr_t JointPtr_t;
152typedef pinocchio::JointConstPtr_t JointConstPtr_t;
153typedef shared_ptr<JointBoundValidation> JointBoundValidationPtr_t;
154typedef shared_ptr<JointBoundValidationReport> JointBoundValidationReportPtr_t;
155typedef pinocchio::HalfJointJacobian_t HalfJointJacobian_t;
156typedef pinocchio::JointVector_t JointVector_t;
157typedef KDTree* KDTreePtr_t;
158typedef constraints::LockedJoint LockedJoint;
159typedef constraints::LockedJointPtr_t LockedJointPtr_t;
160typedef constraints::LockedJointConstPtr_t LockedJointConstPtr_t;
161typedef constraints::LockedJoints_t LockedJoints_t;
162typedef pinocchio::matrix_t matrix_t;
163typedef pinocchio::matrix3_t matrix3_t;
164typedef constraints::matrix6_t matrix6_t;
165typedef pinocchio::vector3_t vector3_t;
166typedef constraints::matrixIn_t matrixIn_t;
167typedef constraints::matrixOut_t matrixOut_t;
168typedef constraints::LiegroupElement LiegroupElement;
169typedef constraints::LiegroupElementRef LiegroupElementRef;
170typedef pinocchio::LiegroupElementConstRef LiegroupElementConstRef;
171typedef constraints::LiegroupSpace LiegroupSpace;
172typedef constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t;
173typedef pinocchio::size_type size_type;
174typedef pinocchio::value_type value_type;
175typedef std::pair<value_type, value_type> interval_t;
177typedef Eigen::BlockIndex BlockIndex;
178typedef constraints::segment_t segment_t;
179typedef constraints::segments_t segments_t;
181typedef std::list<NodePtr_t> Nodes_t;
182typedef std::vector<NodePtr_t> NodeVector_t;
183typedef pinocchio::ObjectVector_t ObjectVector_t;
184typedef std::vector<CollisionObjectPtr_t> ObjectStdVector_t;
185typedef std::vector<CollisionObjectConstPtr_t> ConstObjectStdVector_t;
186
187typedef shared_ptr<Path> PathPtr_t;
188typedef shared_ptr<const Path> PathConstPtr_t;
189typedef shared_ptr<TimeParameterization> TimeParameterizationPtr_t;
190typedef shared_ptr<PathOptimizer> PathOptimizerPtr_t;
191typedef shared_ptr<PathPlanner> PathPlannerPtr_t;
192typedef shared_ptr<ProblemTarget> ProblemTargetPtr_t;
193typedef shared_ptr<PathVector> PathVectorPtr_t;
194typedef shared_ptr<const PathVector> PathVectorConstPtr_t;
195typedef shared_ptr<PlanAndOptimize> PlanAndOptimizePtr_t;
196typedef shared_ptr<Problem> ProblemPtr_t;
197typedef shared_ptr<const Problem> ProblemConstPtr_t;
199typedef shared_ptr<Roadmap> RoadmapPtr_t;
200typedef shared_ptr<StraightPath> StraightPathPtr_t;
201typedef shared_ptr<const StraightPath> StraightPathConstPtr_t;
202typedef shared_ptr<ReedsSheppPath> ReedsSheppPathPtr_t;
203typedef shared_ptr<const ReedsSheppPath> ReedsSheppPathConstPtr_t;
204typedef shared_ptr<DubinsPath> DubinsPathPtr_t;
205typedef shared_ptr<const DubinsPath> DubinsPathConstPtr_t;
206typedef shared_ptr<KinodynamicPath> KinodynamicPathPtr_t;
207typedef shared_ptr<const KinodynamicPath> KinodynamicPathConstPtr_t;
208typedef shared_ptr<KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t;
209typedef shared_ptr<const KinodynamicOrientedPath>
211typedef shared_ptr<InterpolatedPath> InterpolatedPathPtr_t;
212typedef shared_ptr<const InterpolatedPath> InterpolatedPathConstPtr_t;
213typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
214typedef std::vector<PathPtr_t> Paths_t;
215typedef std::vector<PathVectorPtr_t> PathVectors_t;
216typedef std::vector<PathVectorPtr_t> PathVectors_t;
217typedef pinocchio::Transform3f Transform3f;
218typedef pinocchio::vector3_t vector3_t;
219typedef Eigen::Matrix<value_type, 2, 1> vector2_t;
220typedef pinocchio::vector_t vector_t;
221typedef pinocchio::vectorIn_t vectorIn_t;
222typedef pinocchio::vectorOut_t vectorOut_t;
223typedef Eigen::Matrix<value_type, 1, Eigen::Dynamic> rowvector_t;
224typedef shared_ptr<VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t;
225typedef shared_ptr<ValidationReport> ValidationReportPtr_t;
226typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
227typedef shared_ptr<KinodynamicDistance> KinodynamicDistancePtr_t;
228typedef std::map<std::string, constraints::ImplicitPtr_t>
230typedef std::map<std::string, ComparisonTypes_t> ComparisonTypeMap_t;
231typedef std::map<std::string, segments_t> segmentsMap_t;
232typedef constraints::NumericalConstraints_t NumericalConstraints_t;
233typedef std::map<std::string, CenterOfMassComputationPtr_t>
235
236// Collision pairs
237struct CollisionPair;
238typedef CollisionPair CollisionPair_t; // For backward compatibility.
239typedef std::vector<CollisionPair_t> CollisionPairs_t;
240
241class ExtractedPath;
242namespace path {
243template <int _PolynomeBasis, int _Order>
244class Spline;
246typedef shared_ptr<Hermite> HermitePtr_t;
247typedef shared_ptr<const Hermite> HermiteConstPtr_t;
248} // namespace path
249
251typedef shared_ptr<ContinuousValidation> ContinuousValidationPtr_t;
252namespace continuousValidation {
254typedef shared_ptr<Dichotomy> DichotomyPtr_t;
256typedef shared_ptr<Progressive> ProgressivePtr_t;
258typedef shared_ptr<BodyPairCollision> BodyPairCollisionPtr_t;
259typedef std::vector<BodyPairCollisionPtr_t> BodyPairCollisions_t;
261typedef shared_ptr<IntervalValidation> IntervalValidationPtr_t;
262typedef std::vector<IntervalValidationPtr_t> IntervalValidations_t;
264typedef shared_ptr<SolidSolidCollision> SolidSolidCollisionPtr_t;
265} // namespace continuousValidation
266
267namespace distance {
269typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
270} // namespace distance
271
272class NearestNeighbor;
274namespace nearestNeighbor {
275class Basic;
276class KDTree;
277typedef KDTree* KDTreePtr_t;
278typedef Basic* BasicPtr_t;
279} // namespace nearestNeighbor
280
281namespace pathOptimization {
283typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
285typedef shared_ptr<SimpleShortcut> SimpleShortcutPtr_t;
287typedef shared_ptr<Cost> CostPtr_t;
289typedef shared_ptr<GradientBased> GradientBasedPtr_t;
291typedef shared_ptr<PathLength> PathLengthPtr_t;
293typedef shared_ptr<PartialShortcut> PartialShortcutPtr_t;
295typedef shared_ptr<SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
297typedef shared_ptr<ConfigOptimization> ConfigOptimizationPtr_t;
298} // namespace pathOptimization
299
300namespace pathPlanner {
302typedef shared_ptr<kPrmStar> kPrmStarPtr_t;
303} // namespace pathPlanner
304
307typedef shared_ptr<PathValidation> PathValidationPtr_t;
308typedef shared_ptr<PathValidations> PathValidationsPtr_t;
309namespace pathValidation {
311typedef shared_ptr<Discretized> DiscretizedPtr_t;
312} // namespace pathValidation
313// Path validation reports
316typedef shared_ptr<PathValidationReport> PathValidationReportPtr_t;
317typedef shared_ptr<CollisionPathValidationReport>
319typedef std::vector<CollisionPathValidationReport>
321
323typedef shared_ptr<PathProjector> PathProjectorPtr_t;
324namespace pathProjector {
326typedef shared_ptr<Global> GlobalPtr_t;
328typedef shared_ptr<Dichotomy> DichotomyPtr_t;
330typedef shared_ptr<Progressive> ProgressivePtr_t;
332typedef shared_ptr<RecursiveHermite> RecursiveHermitePtr_t;
333} // namespace pathProjector
334
335namespace steeringMethod {
337typedef shared_ptr<Interpolated> InterpolatedPtr_t;
339typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
341typedef shared_ptr<Kinodynamic> KinodynamicPtr_t;
342} // namespace steeringMethod
343
344namespace problemTarget {
347typedef shared_ptr<GoalConfigurations> GoalConfigurationsPtr_t;
348typedef shared_ptr<TaskTarget> TaskTargetPtr_t;
349} // namespace problemTarget
350
351namespace configurationShooter {
353typedef shared_ptr<Uniform> UniformPtr_t;
355typedef shared_ptr<Gaussian> GaussianPtr_t;
356} // namespace configurationShooter
357
360typedef constraints::Shape_t Shape_t;
361typedef constraints::JointAndShape_t JointAndShape_t;
362typedef constraints::JointAndShapes_t JointAndShapes_t;
363
364namespace continuousCollisionChecking = continuousValidation;
365
366} // namespace core
367} // namespace hpp
368
369#endif // HPP_CORE_FWD_HH
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: edge.hh:46
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: node.hh:46
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: path.hh:71
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
Uniformly sample with bounds of degrees of freedom.
Definition: uniform.hh:44
Definition: body-pair-collision.hh:62
Definition: interval-validation.hh:67
Definition: solid-solid-collision.hh:55
Definition: reeds-shepp.hh:46
Definition: config-optimization.hh:71
Definition: cost.hh:44
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: global.hh:41
Definition: progressive.hh:37
Definition: recursive-hermite.hh:42
Definition: discretized.hh:47
Definition: hermite.hh:42
Definition: spline.hh:91
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:355
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:353
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:261
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:258
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:264
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:262
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:254
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:259
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:256
HPP_PREDEF_CLASS(ReedsShepp)
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:269
Basic * BasicPtr_t
Definition: fwd.hh:278
KDTree * KDTreePtr_t
Definition: fwd.hh:277
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:287
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:295
HPP_PREDEF_CLASS(RandomShortcut)
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:297
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:289
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:291
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:285
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:293
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:283
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:302
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:330
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:332
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:326
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:328
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:311
HPP_PREDEF_CLASS(Discretized)
HPP_PREDEF_CLASS(Hermite)
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:247
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:246
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:347
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:348
HPP_PREDEF_CLASS(GoalConfigurations)
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:337
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:341
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:339
HPP_PREDEF_CLASS(Interpolated)
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:203
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:91
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:239
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:135
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:232
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:97
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:189
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:194
pinocchio::value_type value_type
Definition: fwd.hh:174
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:198
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:200
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:161
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:231
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:169
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:307
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
pinocchio::vector3_t vector3_t
Definition: fwd.hh:165
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:202
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:215
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:362
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:160
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:190
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:211
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:251
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:156
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:155
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:182
pinocchio::Device Device_t
Definition: fwd.hh:133
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:129
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition: fwd.hh:127
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:154
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:195
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:153
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:147
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:191
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:170
CollisionPair CollisionPair_t
Definition: fwd.hh:238
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:102
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:223
constraints::LockedJoint LockedJoint
Definition: fwd.hh:158
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:110
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:104
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:205
Edge * EdgePtr_t
Definition: fwd.hh:144
constraints::segments_t segments_t
Definition: fwd.hh:179
const FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:103
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:204
hpp::pinocchio::Body Body
Definition: fwd.hh:92
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:273
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:221
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:323
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:150
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:192
std::list< Edge * > Edges_t
Definition: fwd.hh:145
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:210
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:361
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:226
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:116
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:140
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:111
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:185
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:196
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:222
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:177
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:207
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:183
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:230
KDTree * KDTreePtr_t
Definition: fwd.hh:157
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:108
pinocchio::vector_t vector_t
Definition: fwd.hh:220
constraints::segment_t segment_t
Definition: fwd.hh:178
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:112
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:172
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:212
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:229
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:93
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:107
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:136
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:101
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:148
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:206
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:308
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:132
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:320
pinocchio::size_type size_type
Definition: fwd.hh:173
Node * NodePtr_t
Definition: fwd.hh:180
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:94
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:219
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:318
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:137
constraints::ComparisonType ComparisonType
Definition: fwd.hh:89
constraints::Shape_t Shape_t
Definition: fwd.hh:360
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:168
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:224
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:114
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:225
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:138
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:146
pinocchio::Transform3f Transform3f
Definition: fwd.hh:217
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:201
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:159
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:139
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:109
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:234
HPP_PREDEF_CLASS(BiRRTPlanner)
pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t
Definition: fwd.hh:100
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:115
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:117
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:214
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:142
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:208
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:188
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:88
pinocchio::Joint Joint
Definition: fwd.hh:149
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:167
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:227
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:163
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:131
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:95
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:171
constraints::matrix6_t matrix6_t
Definition: fwd.hh:164
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:166
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:143
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:316
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
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
Definition: fwd.hh:119
bool operator()(const std::shared_ptr< T > &lhs, const std::shared_ptr< T > &rhs) const
Definition: fwd.hh:121