hpp-manipulation 4.14.0
Classes for manipulation planning.
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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
7// Redistribution and use in source and binary forms, with or without
8// modification, are permitted provided that the following conditions are
9// met:
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11// 1. Redistributions of source code must retain the above copyright
12// notice, this list of conditions and the following disclaimer.
13//
14// 2. Redistributions in binary form must reproduce the above copyright
15// notice, this list of conditions and the following disclaimer in the
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17//
18// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
19// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
20// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
21// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
22// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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30
31#ifndef HPP_MANIPULATION_FWD_HH
32#define HPP_MANIPULATION_FWD_HH
33
34#include <hpp/core/fwd.hh>
35#include <map>
36
37namespace hpp {
38namespace manipulation {
40typedef shared_ptr<Device> DevicePtr_t;
41typedef shared_ptr<const Device> DeviceConstPtr_t;
42typedef pinocchio::Joint Joint;
43typedef pinocchio::JointPtr_t JointPtr_t;
44typedef pinocchio::JointIndex JointIndex;
45typedef std::vector<JointIndex> JointIndices_t;
46typedef pinocchio::FrameIndex FrameIndex;
47typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
48typedef pinocchio::Configuration_t Configuration_t;
49typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
50typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
51typedef core::ConfigurationPtr_t ConfigurationPtr_t;
52typedef pinocchio::GripperPtr_t GripperPtr_t;
53typedef pinocchio::LiegroupElement LiegroupElement;
54typedef pinocchio::LiegroupSpace LiegroupSpace;
55typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
56HPP_PREDEF_CLASS(AxialHandle);
57typedef shared_ptr<AxialHandle> AxialHandlePtr_t;
59typedef shared_ptr<Handle> HandlePtr_t;
61typedef shared_ptr<Object> ObjectPtr_t;
62typedef shared_ptr<const Object> ObjectConstPtr_t;
66typedef shared_ptr<Problem> ProblemPtr_t;
67typedef shared_ptr<const Problem> ProblemConstPtr_t;
69typedef shared_ptr<Roadmap> RoadmapPtr_t;
72typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
74typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
76typedef shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
77typedef shared_ptr<const LeafConnectedComp> LeafConnectedCompConstPtr_t;
78typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
80typedef shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
82typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
83typedef constraints::RelativeOrientation RelativeOrientation;
84typedef constraints::RelativePosition RelativePosition;
85typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
86typedef constraints::RelativePositionPtr_t RelativePositionPtr_t;
87typedef constraints::RelativeTransformation RelativeTransformation;
88typedef constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3;
89typedef constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t;
90typedef core::value_type value_type;
91typedef core::size_type size_type;
92typedef core::Transform3f Transform3f;
93typedef core::vector_t vector_t;
94typedef core::vectorIn_t vectorIn_t;
95typedef core::vectorOut_t vectorOut_t;
97typedef shared_ptr<ManipulationPlanner> ManipulationPlannerPtr_t;
99typedef shared_ptr<GraphPathValidation> GraphPathValidationPtr_t;
101typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
102typedef core::PathOptimizer PathOptimizer;
103typedef core::PathOptimizerPtr_t PathOptimizerPtr_t;
105typedef shared_ptr<GraphOptimizer> GraphOptimizerPtr_t;
107typedef shared_ptr<GraphNodeOptimizer> GraphNodeOptimizerPtr_t;
108typedef core::PathProjectorPtr_t PathProjectorPtr_t;
109
110typedef std::vector<pinocchio::DevicePtr_t> Devices_t;
111typedef std::vector<ObjectPtr_t> Objects_t;
112typedef core::Constraint Constraint;
113typedef core::ConstraintPtr_t ConstraintPtr_t;
114typedef constraints::Explicit Explicit;
115typedef constraints::ExplicitPtr_t ExplicitPtr_t;
116typedef constraints::ImplicitPtr_t ImplicitPtr_t;
117typedef constraints::LockedJoint LockedJoint;
118typedef constraints::LockedJointPtr_t LockedJointPtr_t;
119typedef hpp::core::ComparisonTypes_t ComparisonTypes_t;
120typedef core::ConfigProjector ConfigProjector;
121typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
123typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
124typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
125typedef core::ConfigurationShooter ConfigurationShooter;
126typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
127typedef core::ValidationReport ValidationReport;
128typedef core::NumericalConstraints_t NumericalConstraints_t;
129typedef core::PathValidationPtr_t PathValidationPtr_t;
130typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
131typedef core::matrix_t matrix_t;
132typedef core::matrixIn_t matrixIn_t;
133typedef core::matrixOut_t matrixOut_t;
134typedef core::size_type size_type;
135typedef core::value_type value_type;
136typedef core::vector3_t vector3_t;
137typedef core::matrix3_t matrix3_t;
138
139typedef core::Shape_t Shape_t;
140typedef core::JointAndShape_t JointAndShape_t;
141typedef core::JointAndShapes_t JointAndShapes_t;
142
143typedef std::list<std::string> StringList_t;
144typedef std::vector<std::string> Strings_t;
145
146namespace pathOptimization {
148typedef shared_ptr<SmallSteps> SmallStepsPtr_t;
150typedef shared_ptr<Keypoints> KeypointsPtr_t;
151} // namespace pathOptimization
152
153namespace problemTarget {
155typedef shared_ptr<State> StatePtr_t;
156} // namespace problemTarget
157} // namespace manipulation
158} // namespace hpp
159
160#endif // HPP_MANIPULATION_FWD_HH
Definition: connected-component.hh:44
a core::ConstraintSet remembering which edge created it
Definition: constraint-set.hh:43
Definition: device.hh:48
Definition: graph-node-optimizer.hh:57
Definition: graph-optimizer.hh:53
Definition: graph-path-validation.hh:58
Definition: handle.hh:58
Definition: leaf-connected-comp.hh:44
Definition: manipulation-planner.hh:47
Definition: problem-solver.hh:45
Definition: problem.hh:43
Definition: roadmap-node.hh:42
Definition: roadmap.hh:47
Definition: graph.hh:43
Class for distance between configurations.
Definition: weighed-distance.hh:43
Definition: leaf-connected-comp.hh:110
shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:148
shared_ptr< Keypoints > KeypointsPtr_t
Definition: fwd.hh:150
shared_ptr< State > StatePtr_t
Definition: fwd.hh:155
std::vector< pinocchio::DevicePtr_t > Devices_t
Definition: fwd.hh:110
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:66
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:43
shared_ptr< const Object > ObjectConstPtr_t
Definition: fwd.hh:62
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:51
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:124
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: fwd.hh:108
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:123
shared_ptr< ManipulationPlanner > ManipulationPlannerPtr_t
Definition: fwd.hh:97
std::vector< JointIndex > JointIndices_t
Definition: fwd.hh:45
core::ConfigProjector ConfigProjector
Definition: fwd.hh:120
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:69
shared_ptr< Object > ObjectPtr_t
Definition: fwd.hh:61
shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:80
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
constraints::RelativeOrientation RelativeOrientation
Definition: fwd.hh:83
core::vector3_t vector3_t
Definition: fwd.hh:136
std::vector< ObjectPtr_t > Objects_t
Definition: fwd.hh:111
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:129
shared_ptr< AxialHandle > AxialHandlePtr_t
Definition: fwd.hh:57
core::vectorOut_t vectorOut_t
Definition: fwd.hh:95
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:52
pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:46
core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:128
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:53
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:55
core::PathOptimizer PathOptimizer
Definition: fwd.hh:102
constraints::Explicit Explicit
Definition: fwd.hh:114
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:76
core::matrixOut_t matrixOut_t
Definition: fwd.hh:133
constraints::ExplicitPtr_t ExplicitPtr_t
Definition: fwd.hh:115
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:103
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:64
core::matrixIn_t matrixIn_t
Definition: fwd.hh:132
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:67
core::ValidationReport ValidationReport
Definition: fwd.hh:127
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:54
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:47
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:74
core::Transform3f Transform3f
Definition: fwd.hh:92
core::matrix3_t matrix3_t
Definition: fwd.hh:137
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:116
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:50
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:121
constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3
Definition: fwd.hh:88
constraints::RelativePositionPtr_t RelativePositionPtr_t
Definition: fwd.hh:86
constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t
Definition: fwd.hh:85
core::size_type size_type
Definition: fwd.hh:91
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:82
std::list< std::string > StringList_t
Definition: fwd.hh:143
constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t
Definition: fwd.hh:89
shared_ptr< const LeafConnectedComp > LeafConnectedCompConstPtr_t
Definition: fwd.hh:77
pinocchio::Joint Joint
Definition: fwd.hh:42
core::PathValidationReportPtr_t PathValidationReportPtr_t
Definition: fwd.hh:130
core::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:141
pinocchio::JointIndex JointIndex
Definition: fwd.hh:44
constraints::RelativePosition RelativePosition
Definition: fwd.hh:84
shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition: fwd.hh:107
hpp::core::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:119
shared_ptr< GraphPathValidation > GraphPathValidationPtr_t
Definition: fwd.hh:99
core::Constraint Constraint
Definition: fwd.hh:112
constraints::RelativeTransformation RelativeTransformation
Definition: fwd.hh:87
core::value_type value_type
Definition: fwd.hh:90
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
std::set< LeafConnectedCompPtr_t > LeafConnectedComps_t
Definition: fwd.hh:78
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:41
core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: fwd.hh:126
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
core::Shape_t Shape_t
Definition: fwd.hh:139
constraints::LockedJoint LockedJoint
Definition: fwd.hh:117
std::vector< std::string > Strings_t
Definition: fwd.hh:144
core::matrix_t matrix_t
Definition: fwd.hh:131
core::vector_t vector_t
Definition: fwd.hh:93
core::JointAndShape_t JointAndShape_t
Definition: fwd.hh:140
core::vectorIn_t vectorIn_t
Definition: fwd.hh:94
RoadmapNode * RoadmapNodePtr_t
Definition: fwd.hh:71
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:101
shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:59
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:118
shared_ptr< GraphOptimizer > GraphOptimizerPtr_t
Definition: fwd.hh:105
core::ConfigurationShooter ConfigurationShooter
Definition: fwd.hh:125
HPP_PREDEF_CLASS(Device)
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:72
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:113
Definition: main.hh:1