hpp-core 5.0.0
Implement basic classes for canonical path planning for kinematic chains.
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problem-solver.hh
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1//
2// Copyright (c) 2005, 2006, 2007, 2008, 2009, 2010, 2011 CNRS
3// Authors: Florent Lamiraux
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29
30#ifndef HPP_CORE_PROBLEM_SOLVER_HH
31#define HPP_CORE_PROBLEM_SOLVER_HH
32
33#include <functional>
34#include <hpp/core/config.hh>
35#include <hpp/core/container.hh>
37#include <hpp/core/fwd.hh>
38#include <hpp/pinocchio/fwd.hh>
39#include <stdexcept>
40
41namespace hpp {
42namespace core {
46class
48};
49typedef std::function<DevicePtr_t(const std::string&)> RobotBuilder_t;
50typedef std::function<PathOptimizerPtr_t(const ProblemConstPtr_t&)>
52typedef std::function<PathPlannerPtr_t(const ProblemConstPtr_t&,
53 const RoadmapPtr_t&)>
55typedef std::function<PathValidationPtr_t(const DevicePtr_t&,
56 const value_type&)>
58typedef std::function<ConfigValidationPtr_t(const DevicePtr_t&)>
60typedef std::function<PathProjectorPtr_t(const ProblemConstPtr_t&,
61 const value_type&)>
63typedef std::function<ConfigurationShooterPtr_t(const ProblemConstPtr_t&)>
65typedef std::function<DistancePtr_t(const ProblemConstPtr_t&)>
67typedef std::function<SteeringMethodPtr_t(const ProblemConstPtr_t&)>
69typedef std::vector<std::pair<std::string, CollisionObjectPtr_t> >
72
79 public:
80 typedef std::vector<PathOptimizerPtr_t> PathOptimizers_t;
81 typedef std::vector<std::string> PathOptimizerTypes_t;
82 typedef std::vector<std::string> ConfigValidationTypes_t;
83
86
88 virtual ~ProblemSolver();
89
92 void robotType(const std::string& type);
93
95 const std::string& robotType() const;
96
102 DevicePtr_t createRobot(const std::string& name);
103
105 virtual void robot(const DevicePtr_t& robot);
106
108 const DevicePtr_t& robot() const;
109
111 ProblemPtr_t problem() { return problem_; }
113 const Configuration_t& initConfig() const { return initConf_; }
115 virtual void initConfig(ConfigurationIn_t config);
119 virtual void addGoalConfig(ConfigurationIn_t config);
126 /*
128 void addGoalConstraint (const ConstraintPtr_t& constraint);
130 void addGoalConstraint (const LockedJointPtr_t& lj);
132 void addGoalConstraint (const std::string& constraintName,
133 const std::string& functionName, const std::size_t priority);
135 void resetGoalConstraint ();
136 */
138 virtual void pathPlannerType(const std::string& type);
139 const std::string& pathPlannerType() const { return pathPlannerType_; }
141 void distanceType(const std::string& type);
142 const std::string& distanceType() const { return distanceType_; }
144 void steeringMethodType(const std::string& type);
145 const std::string& steeringMethodType() const { return steeringMethodType_; }
147 void configurationShooterType(const std::string& type);
148 const std::string& configurationShooterType() const {
149 return configurationShooterType_;
150 }
152 const PathPlannerPtr_t& pathPlanner() const { return pathPlanner_; }
153
157 void addPathOptimizer(const std::string& type);
159 return pathOptimizerTypes_;
160 }
164 const PathOptimizerPtr_t& pathOptimizer(std::size_t rank) const {
165 return pathOptimizers_[rank];
166 }
167
174
180 virtual void pathValidationType(const std::string& type,
181 const value_type& tolerance);
182 const std::string& pathValidationType(value_type& tolerance) const {
183 tolerance = pathValidationTolerance_;
184 return pathValidationType_;
185 }
186
190 void pathProjectorType(const std::string& type, const value_type& step);
191
193 const std::string& pathProjectorType(value_type& tolerance) const {
194 tolerance = pathProjectorTolerance_;
195 return pathProjectorType_;
196 }
197
202 virtual void addConfigValidation(const std::string& type);
203
206 return configValidationTypes_;
207 }
208
209 // Clear the vector of config validations
211
213 void addConfigValidationBuilder(const std::string& type,
214 const ConfigValidationBuilder_t& builder);
215
216 const RoadmapPtr_t& roadmap() const { return roadmap_; }
217
220
222 void addConstraint(const ConstraintPtr_t& constraint);
223
225 const ConstraintSetPtr_t& constraints() const { return constraints_; }
226
228 virtual void resetConstraints();
229
236 const std::string& configProjName, const std::string& constraintName,
237 const std::size_t priority = 0);
238
245 void addNumericalConstraint(const std::string& name,
246 const constraints::ImplicitPtr_t& constraint) {
247 numericalConstraints.add(name, constraint);
248 }
249
252 void comparisonType(const std::string& name, const ComparisonTypes_t types);
253
254 void comparisonType(const std::string& name, const ComparisonType& type);
255
256 ComparisonTypes_t comparisonType(const std::string& name) const;
257
259 constraints::ImplicitPtr_t numericalConstraint(const std::string& name) {
260 return numericalConstraints.get(name, constraints::ImplicitPtr_t());
261 }
262
273 void computeValueAndJacobian(const Configuration_t& configuration,
274 vector_t& value, matrix_t& jacobian) const;
275
277 void maxIterProjection(size_type iterations);
279 size_type maxIterProjection() const { return maxIterProjection_; }
280
284 size_type maxIterPathPlanning() const { return maxIterPathPlanning_; }
285
287 void setTimeOutPathPlanning(double timeOut) {
288 timeOutPathPlanning_ = timeOut;
289 }
290
292 double getTimeOutPathPlanning() { return timeOutPathPlanning_; }
293
295 void errorThreshold(const value_type& threshold);
297 value_type errorThreshold() const { return errorThreshold_; }
299
301 virtual void resetProblem();
302
306 virtual void resetRoadmap();
307
310
316
321
326 virtual bool executeOneStep();
327
330 virtual void finishSolveStepByStep();
331
333 virtual void solve();
334
346 bool directPath(ConfigurationIn_t start, ConfigurationIn_t end, bool validate,
347 std::size_t& pathId, std::string& report);
348
351
360 const PathPtr_t& path);
361
363 void interrupt();
364
366 std::size_t addPath(const PathVectorPtr_t& path) {
367 std::size_t s = paths_.size();
368 paths_.push_back(path);
369 return s;
370 }
371
373 void erasePath(std::size_t pathId) {
374 PathVectors_t::iterator it = paths_.begin();
375 std::advance(it, pathId);
376
377 paths_.erase(it);
378 }
379
381 const PathVectors_t& paths() const { return paths_; }
383
386
393 virtual void addObstacle(const DevicePtr_t& device, bool collision,
394 bool distance);
395
402 virtual void addObstacle(const CollisionObjectPtr_t& inObject, bool collision,
403 bool distance);
404
407 virtual void removeObstacle(const std::string& name);
408
416 virtual void addObstacle(const std::string& name,
417 const CollisionGeometryPtr_t& inObject,
418 const Transform3f& pose, bool collision,
419 bool distance);
420
427 virtual void addObstacle(const std::string& name,
428 /*const*/ FclCollisionObject& inObject,
429 bool collision, bool distance);
430
434 void removeObstacleFromJoint(const std::string& jointName,
435 const std::string& obstacleName);
436
439 void cutObstacle(const std::string& name, const fcl::AABB& aabb);
440
445
448 CollisionObjectPtr_t obstacle(const std::string& name) const;
449
452 const Transform3f& obstacleFramePosition(const std::string& name) const;
453
459 std::list<std::string> obstacleNames(bool collision, bool distance) const;
460
463 return distanceBetweenObjects_;
464 }
465
466 pinocchio::GeomModelPtr_t obstacleGeomModel() const { return obstacleModel_; }
467 pinocchio::GeomDataPtr_t obstacleGeomData() const { return obstacleData_; }
469
474
476 void roadmap(const RoadmapPtr_t& roadmap) { roadmap_ = roadmap; }
477
482
487
492
495
498
501
503 virtual void initProblemTarget();
504
532
550
551 protected:
556
559
561 void problem(ProblemPtr_t problem);
562
568 virtual void initializeProblem(ProblemPtr_t problem);
569
574
584
586 std::string pathPlannerType_;
587
590
591 private:
593 Configuration_t initConf_;
595 Configurations_t goalConfigurations_;
597 std::string robotType_;
599 std::string configurationShooterType_;
601 std::string distanceType_;
603 std::string steeringMethodType_;
605 PathOptimizerTypes_t pathOptimizerTypes_;
606 PathOptimizers_t pathOptimizers_;
608 std::string pathValidationType_;
610 value_type pathValidationTolerance_;
611 // Config validation methods
612 ConfigValidationTypes_t configValidationTypes_;
614 ObjectStdVector_t collisionObstacles_; // FIXME should be removed?
615 ObjectStdVector_t distanceObstacles_; // FIXME should be removed?
616 pinocchio::ModelPtr_t obstacleRModel_; // Contains the frames
617 pinocchio::DataPtr_t obstacleRData_; // Contains the frames
618 pinocchio::GeomModelPtr_t obstacleModel_;
619 pinocchio::GeomDataPtr_t obstacleData_;
620 // Tolerance for numerical constraint resolution
621 value_type errorThreshold_;
622 // Maximal number of iterations for numerical constraint resolution
623 size_type maxIterProjection_;
625 unsigned long int maxIterPathPlanning_;
627 double timeOutPathPlanning_;
629 segmentsMap_t passiveDofsMap_;
633 DistanceBetweenObjectsPtr_t distanceBetweenObjects_;
634 void initProblem();
635}; // class ProblemSolver
636} // namespace core
637} // namespace hpp
638
639#endif // HPP_CORE_PROBLEM_SOLVER_HH
Definition: problem-solver.hh:78
Container< ConfigValidationBuilder_t > configValidations
Definition: problem-solver.hh:522
void clearPathOptimizers()
Clear the vector of path optimizers.
void resetGoalConfigs()
Reset the set of goal configurations.
void initPathValidation()
Set path validation by calling path validation factory.
void addPathOptimizer(const std::string &type)
void robotType(const std::string &type)
std::vector< PathOptimizerPtr_t > PathOptimizers_t
Definition: problem-solver.hh:80
virtual bool executeOneStep()
void maxIterPathPlanning(size_type iterations)
Set maximal number of iterations in config projector.
value_type errorThreshold() const
Get errorimal number of threshold in config projector.
Definition: problem-solver.hh:297
Container< RobotBuilder_t > robots
Definition: problem-solver.hh:507
void problem(ProblemPtr_t problem)
Set pointer to problem.
Container< PathPlannerBuilder_t > pathPlanners
Definition: problem-solver.hh:528
ComparisonTypes_t comparisonType(const std::string &name) const
virtual void removeObstacle(const std::string &name)
virtual void pathPlannerType(const std::string &type)
Set path planner type.
virtual void initConfig(ConfigurationIn_t config)
Set initial configuration.
void addNumericalConstraint(const std::string &name, const constraints::ImplicitPtr_t &constraint)
Definition: problem-solver.hh:245
const Configuration_t & initConfig() const
Get shared pointer to initial configuration.
Definition: problem-solver.hh:113
double getTimeOutPathPlanning()
set time out for the path planning ( in seconds)
Definition: problem-solver.hh:292
std::vector< std::string > ConfigValidationTypes_t
Definition: problem-solver.hh:82
virtual void addObstacle(const CollisionObjectPtr_t &inObject, bool collision, bool distance)
const PathOptimizerPtr_t & pathOptimizer(std::size_t rank) const
Get path optimizer at given rank.
Definition: problem-solver.hh:164
const DevicePtr_t & robot() const
Get robot.
Member_lockedJoints_in_class_ProblemSolver_has_been_removed_use_member_numericalConstraints_instead lockedJoints
Definition: problem-solver.hh:539
void interrupt()
Interrupt path planning and path optimization.
ConstraintSetPtr_t constraints_
Store constraints until call to solve.
Definition: problem-solver.hh:558
Container< PathProjectorBuilder_t > pathProjectors
Definition: problem-solver.hh:525
Container< PathOptimizerBuilder_t > pathOptimizers
Definition: problem-solver.hh:531
virtual void addConfigValidation(const std::string &type)
Container< constraints::ImplicitPtr_t > numericalConstraints
Container of constraints::Implicit.
Definition: problem-solver.hh:534
static ProblemSolverPtr_t create()
Create instance and return pointer.
virtual ~ProblemSolver()
Destructor.
const std::string & configurationShooterType() const
Definition: problem-solver.hh:148
const RoadmapPtr_t & roadmap() const
Definition: problem-solver.hh:216
virtual void addObstacle(const std::string &name, const CollisionGeometryPtr_t &inObject, const Transform3f &pose, bool collision, bool distance)
Container< AffordanceConfig_t > affordanceConfigs
Container of AffordanceConfig_t.
Definition: problem-solver.hh:549
Container< segments_t > passiveDofs
Container of passive DoFs (as segments_t)
Definition: problem-solver.hh:543
virtual void resetRoadmap()
std::vector< std::string > PathOptimizerTypes_t
Definition: problem-solver.hh:81
Container< ConfigurationShooterBuilder_t > configurationShooters
Definition: problem-solver.hh:510
Container< JointAndShapes_t > jointAndShapes
Container of JointAndShapes_t.
Definition: problem-solver.hh:545
const DistanceBetweenObjectsPtr_t & distanceBetweenObjects() const
Return list of pair of distance computations.
Definition: problem-solver.hh:462
bool directPath(ConfigurationIn_t start, ConfigurationIn_t end, bool validate, std::size_t &pathId, std::string &report)
CollisionObjectPtr_t obstacle(const std::string &name) const
void erasePath(std::size_t pathId)
Erase a path.
Definition: problem-solver.hh:373
Container< CenterOfMassComputationPtr_t > centerOfMassComputations
Container of CenterOfMassComputation.
Definition: problem-solver.hh:541
pinocchio::GeomModelPtr_t obstacleGeomModel() const
Definition: problem-solver.hh:466
void cutObstacle(const std::string &name, const fcl::AABB &aabb)
Container< SteeringMethodBuilder_t > steeringMethods
Definition: problem-solver.hh:513
void resetGoalConstraints()
Stop defining the goal of path planning as a set of constraints.
void distanceType(const std::string &type)
Set distance type.
void initConfigValidation()
Set config validation by calling config validation factories.
void setGoalConstraints(const NumericalConstraints_t &constraints)
Set goal of path planning as a set of constraints.
virtual void addNumericalConstraintToConfigProjector(const std::string &configProjName, const std::string &constraintName, const std::size_t priority=0)
PathPlannerPtr_t pathPlanner_
Definition: problem-solver.hh:575
DevicePtr_t robot_
Robot.
Definition: problem-solver.hh:571
size_type maxIterProjection() const
Get maximal number of iterations in config projector.
Definition: problem-solver.hh:279
void removeObstacleFromJoint(const std::string &jointName, const std::string &obstacleName)
Container< DistanceBuilder_t > distances
Definition: problem-solver.hh:516
virtual void robot(const DevicePtr_t &robot)
Set robot.
virtual void addGoalConfig(ConfigurationIn_t config)
Add goal configuration.
virtual bool prepareSolveStepByStep()
pinocchio::GeomDataPtr_t obstacleGeomData() const
Definition: problem-solver.hh:467
const std::string & pathPlannerType() const
Definition: problem-solver.hh:139
std::list< std::string > obstacleNames(bool collision, bool distance) const
const ObjectStdVector_t & collisionObstacles() const
Local vector of objects considered for collision detection.
virtual void resetConstraints()
Reset constraint set.
void addConstraint(const ConstraintPtr_t &constraint)
Add a constraint.
virtual void initProblemTarget()
Initialize the problem target by calling the path validation factory.
void addConfigValidationBuilder(const std::string &type, const ConfigValidationBuilder_t &builder)
Add a new available config validation method.
void optimizePath(PathVectorPtr_t path)
DevicePtr_t createRobot(const std::string &name)
const PathVectors_t & paths() const
Return vector of paths.
Definition: problem-solver.hh:381
const ConfigValidationTypes_t configValidationTypes()
Get config validation current types.
Definition: problem-solver.hh:205
virtual void finishSolveStepByStep()
void configurationShooterType(const std::string &type)
Set configuration shooter type.
void addConfigToRoadmap(ConfigurationIn_t config)
Add random configuration into roadmap as new node.
void addEdgeToRoadmap(ConfigurationIn_t config1, ConfigurationIn_t config2, const PathPtr_t &path)
void comparisonType(const std::string &name, const ComparisonTypes_t types)
void maxIterProjection(size_type iterations)
Set maximal number of iterations in config projector.
ProblemTargetPtr_t target_
Shared pointer to the problem target.
Definition: problem-solver.hh:589
const ObjectStdVector_t & distanceObstacles() const
Local vector of objects considered for distance computation.
void setTimeOutPathPlanning(double timeOut)
set time out for the path planning ( in seconds)
Definition: problem-solver.hh:287
void steeringMethodType(const std::string &type)
Set steering method type.
ProblemPtr_t problem_
Problem.
Definition: problem-solver.hh:573
const ConstraintSetPtr_t & constraints() const
Get constraint set.
Definition: problem-solver.hh:225
const Configurations_t & goalConfigs() const
Get number of goal configuration.
virtual void addObstacle(const std::string &name, FclCollisionObject &inObject, bool collision, bool distance)
value_type pathProjectorTolerance_
Tolerance of path projector.
Definition: problem-solver.hh:583
RoadmapPtr_t roadmap_
Store roadmap.
Definition: problem-solver.hh:577
virtual void addObstacle(const DevicePtr_t &device, bool collision, bool distance)
std::string pathPlannerType_
Path planner.
Definition: problem-solver.hh:586
const std::string & pathProjectorType(value_type &tolerance) const
Get path projector current type and get tolerance.
Definition: problem-solver.hh:193
const std::string & robotType() const
Get robot type.
virtual void resetProblem()
Create new problem.
void initValidations()
Initialize the config and path validations and add the obstacles.
virtual void solve()
Set and solve the problem.
ProblemPtr_t problem()
Get pointer to problem.
Definition: problem-solver.hh:111
void roadmap(const RoadmapPtr_t &roadmap)
Set the roadmap.
Definition: problem-solver.hh:476
const PathPlannerPtr_t & pathPlanner() const
Get path planner.
Definition: problem-solver.hh:152
size_type maxIterPathPlanning() const
Get maximal number of iterations in config projector.
Definition: problem-solver.hh:284
Container< PathValidationBuilder_t > pathValidations
Definition: problem-solver.hh:519
virtual void pathValidationType(const std::string &type, const value_type &tolerance)
const Transform3f & obstacleFramePosition(const std::string &name) const
const PathOptimizerTypes_t & pathOptimizerTypes() const
Definition: problem-solver.hh:158
constraints::ImplicitPtr_t numericalConstraint(const std::string &name)
Get constraint with given name.
Definition: problem-solver.hh:259
std::string pathProjectorType_
Path projector method.
Definition: problem-solver.hh:581
virtual void initializeProblem(ProblemPtr_t problem)
void comparisonType(const std::string &name, const ComparisonType &type)
const std::string & steeringMethodType() const
Definition: problem-solver.hh:145
std::size_t addPath(const PathVectorPtr_t &path)
Add a path.
Definition: problem-solver.hh:366
Container< AffordanceObjects_t > affordanceObjects
Container of AffordanceObjects_t.
Definition: problem-solver.hh:547
const std::string & distanceType() const
Definition: problem-solver.hh:142
PathVectors_t paths_
Paths.
Definition: problem-solver.hh:579
void computeValueAndJacobian(const Configuration_t &configuration, vector_t &value, matrix_t &jacobian) const
void pathProjectorType(const std::string &type, const value_type &step)
const std::string & pathValidationType(value_type &tolerance) const
Definition: problem-solver.hh:182
void errorThreshold(const value_type &threshold)
Set error threshold in config projector.
#define HPP_CORE_DLLAPI
Definition: config.hh:88
vector3_t AffordanceConfig_t
Definition: problem-solver.hh:71
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:232
pinocchio::value_type value_type
Definition: fwd.hh:174
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:231
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
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
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:215
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:190
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:99
std::vector< std::pair< std::string, CollisionObjectPtr_t > > AffordanceObjects_t
Definition: problem-solver.hh:70
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:129
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:191
std::function< PathValidationPtr_t(const DevicePtr_t &, const value_type &)> PathValidationBuilder_t
Definition: problem-solver.hh:57
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
std::function< DevicePtr_t(const std::string &)> RobotBuilder_t
Definition: problem-solver.hh:49
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:323
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:192
std::function< PathOptimizerPtr_t(const ProblemConstPtr_t &)> PathOptimizerBuilder_t
Definition: problem-solver.hh:51
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:196
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
std::function< ConfigurationShooterPtr_t(const ProblemConstPtr_t &)> ConfigurationShooterBuilder_t
Definition: problem-solver.hh:64
std::function< PathPlannerPtr_t(const ProblemConstPtr_t &, const RoadmapPtr_t &)> PathPlannerBuilder_t
Definition: problem-solver.hh:54
pinocchio::vector_t vector_t
Definition: fwd.hh:220
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:102
pinocchio::size_type size_type
Definition: fwd.hh:173
constraints::ComparisonType ComparisonType
Definition: fwd.hh:90
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
pinocchio::Transform3f Transform3f
Definition: fwd.hh:217
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:234
std::function< DistancePtr_t(const ProblemConstPtr_t &)> DistanceBuilder_t
Definition: problem-solver.hh:66
pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t
Definition: fwd.hh:101
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:115
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:142
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:107
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:89
std::function< PathProjectorPtr_t(const ProblemConstPtr_t &, const value_type &)> PathProjectorBuilder_t
Definition: problem-solver.hh:62
std::function< ConfigValidationPtr_t(const DevicePtr_t &)> ConfigValidationBuilder_t
Definition: problem-solver.hh:59
std::function< SteeringMethodPtr_t(const ProblemConstPtr_t &)> SteeringMethodBuilder_t
Definition: problem-solver.hh:68
std::vector< Configuration_t > Configurations_t
Definition: fwd.hh:110
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
Definition: bi-rrt-planner.hh:35
Definition: container.hh:76