hpp::core Namespace Reference

Namespaces

namespace  continuousCollisionChecking
namespace  nearestNeighbor
namespace  pathOptimization
namespace  pathProjector

Classes

class  BasicConfigurationShooter
 Uniformly sample with bounds of degrees of freedom. More...
struct  CollisionPathValidationReport
 Abstraction of path validation report. More...
struct  CollisionValidationReport
 Validate a configuration with respect to collision. More...
class  CollisionValidation
 Validate a configuration with respect to collision. More...
class  ComparisonType
 Abstract class defining the comparison for a function value and doing a saturation, necessary for inequality constraint. More...
class  Equality
 Implementation of equality. More...
class  EqualToZero
 Implementation of equality to zero. More...
class  ComparisonTypes
 Implementation of various equation types. More...
class  Inequality
 Implementation of inequality. More...
class  DoubleInequality
 Implementation of double inequality. More...
class  ConfigProjector
 Implicit non-linear constraint. More...
class  ConfigValidation
 Abstraction of configuration validation. More...
class  ConfigValidations
 Validate a configuration with respect to collision. More...
class  ConfigurationShooter
 Abstraction of configuration shooter. More...
class  ConnectedComponent
 Connected component. More...
class  ConstraintSet
 Set of constraints applicable to a robot configuration. More...
class  Constraint
 Constraint applicable to a robot configuration. More...
class  DiffusingPlanner
 Generic implementation of RRT algorithm. More...
class  DiscretizedCollisionChecking
 Validation of path by collision checking at discretized parameter values. More...
class  DistanceBetweenObjects
 Computation of distances between pairs of objects. More...
class  Distance
 Abstract class for distance between configurations. More...
class  Edge
 Edge of a roadmap. More...
class  Equation
 This class represents an equation with the following format $ f(q) = \textbf{or} \le rhs $. More...
class  JointBoundException
 Exception thrown when a configuration is not within the bounds. More...
class  JointBoundValidation
 Validate a configuration with respect to joint bounds. More...
class  LockedJoint
 Implementation of Equation specific to locked joint. More...
class  Node
 Node of a roadmap. More...
class  NumericalConstraint
 With the same notation as in Equation, this class represents equation: More...
class  PathOptimizer
 Abstraction of path optimizer. More...
class  PathPlanner
 Path planner. More...
class  PathProjector
 This class projects a path using constraints. More...
class  PathValidation
 Abstraction of path validation. More...
class  PathVector
 Concatenation of several paths. More...
class  Path
 Abstraction of paths: mapping from time to configuration space. More...
class  PlanAndOptimize
 Path planner and optimizer. More...
class  ProblemSolver
 Set and solve a path planning problem. More...
class  Problem
 Defines a path planning problem for one robot. More...
class  RandomShortcut
 Random shortcut. More...
class  Roadmap
 Roadmap built by random path planning methods Nodes are configurations, paths are collision-free paths. More...
class  SteeringMethodStraight
 Steering method that creates StraightPath instances. More...
class  SteeringMethod
 Steering method. More...
class  StraightPath
 Linear interpolation between two configurations. More...
class  ValidationReport
 Abstraction of validation report for paths and configurations. More...
class  VisibilityPrmPlanner
 Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards. More...
class  WeighedDistance
 Weighed distance between configurations. More...

Typedefs

typedef Inequality
< ComparisonType::Superior > 
SuperiorIneq
typedef Inequality
< ComparisonType::Inferior > 
InferiorIneq
typedef boost::shared_ptr
< SuperiorIneq
SuperiorPtr_t
typedef boost::shared_ptr
< InferiorIneq
InferiorPtr_t
typedef boost::shared_ptr
< ComparisonType
ComparisonTypePtr_t
typedef boost::shared_ptr
< Equality
EqualityPtr_t
typedef boost::shared_ptr
< EqualToZero
EqualToZeroPtr_t
typedef boost::shared_ptr
< ComparisonTypes
ComparisonTypesPtr_t
typedef boost::shared_ptr
< DoubleInequality
DoubleInequalityPtr_t
typedef boost::shared_ptr
< BasicConfigurationShooter
BasicConfigurationShooterPtr_t
typedef hpp::model::Body Body
typedef hpp::model::BodyPtr_t BodyPtr_t
typedef boost::shared_ptr
< CollisionValidation
CollisionValidationPtr_t
typedef model::CollisionObjectPtr_t CollisionObjectPtr_t
typedef model::Configuration_t Configuration_t
typedef model::ConfigurationIn_t ConfigurationIn_t
typedef model::ConfigurationOut_t ConfigurationOut_t
typedef model::ConfigurationPtr_t ConfigurationPtr_t
typedef std::vector
< ConfigurationPtr_t
Configurations_t
typedef Configurations_t::iterator ConfigIterator_t
typedef
Configurations_t::const_iterator 
ConfigConstIterator_t
typedef boost::shared_ptr
< ConfigurationShooter
ConfigurationShooterPtr_t
typedef boost::shared_ptr
< ConfigProjector
ConfigProjectorPtr_t
typedef boost::shared_ptr
< ConfigValidation
ConfigValidationPtr_t
typedef boost::shared_ptr
< ConfigValidations
ConfigValidationsPtr_t
typedef boost::shared_ptr
< ConnectedComponent
ConnectedComponentPtr_t
typedef std::set
< ConnectedComponentPtr_t
ConnectedComponents_t
typedef boost::shared_ptr
< Constraint
ConstraintPtr_t
typedef boost::shared_ptr
< ConstraintSet
ConstraintSetPtr_t
typedef model::Device Device_t
typedef model::DevicePtr_t DevicePtr_t
typedef model::DeviceWkPtr_t DeviceWkPtr_t
typedef
model::CenterOfMassComputationPtr_t 
CenterOfMassComputationPtr_t
typedef std::deque< DevicePtr_tDevices_t
typedef
constraints::DifferentiableFunction 
DifferentiableFunction
typedef
constraints::DifferentiableFunctionPtr_t 
DifferentiableFunctionPtr_t
typedef boost::shared_ptr
< DiffusingPlanner
DiffusingPlannerPtr_t
typedef boost::shared_ptr
< DiscretizedCollisionChecking
DiscretizedCollisionCheckingPtr_t
typedef boost::shared_ptr
< Distance
DistancePtr_t
typedef boost::shared_ptr
< DistanceBetweenObjects
DistanceBetweenObjectsPtr_t
typedef model::DistanceResult DistanceResult
typedef model::DistanceResults_t DistanceResults_t
typedef EdgeEdgePtr_t
typedef std::list< Edge * > Edges_t
typedef boost::shared_ptr
< ExtractedPath > 
ExtractedPathPtr_t
typedef model::JointJacobian_t JointJacobian_t
typedef model::Joint Joint
typedef model::JointConstPtr_t JointConstPtr_t
typedef model::JointPtr_t JointPtr_t
typedef boost::shared_ptr
< JointBoundValidation
JointBoundValidationPtr_t
typedef model::HalfJointJacobian_t HalfJointJacobian_t
typedef model::JointVector_t JointVector_t
typedef KDTree * KDTreePtr_t
typedef boost::shared_ptr
< LockedJoint
LockedJointPtr_t
typedef boost::shared_ptr
< NumericalConstraint
NumericalConstraintPtr_t
typedef model::matrix_t matrix_t
typedef constraints::matrixIn_t matrixIn_t
typedef constraints::matrixOut_t matrixOut_t
typedef model::size_type size_type
typedef model::value_type value_type
typedef std::pair< value_type,
value_type
interval_t
typedef std::pair< size_type,
size_type
SizeInterval_t
typedef std::vector
< SizeInterval_t
SizeIntervals_t
typedef std::list< Node * > Nodes_t
typedef NodeNodePtr_t
typedef model::ObjectVector_t ObjectVector_t
typedef boost::shared_ptr< PathPathPtr_t
typedef boost::shared_ptr
< const Path
PathConstPtr_t
typedef boost::shared_ptr
< PathOptimizer
PathOptimizerPtr_t
typedef boost::shared_ptr
< PathPlanner
PathPlannerPtr_t
typedef boost::shared_ptr
< PathValidation
PathValidationPtr_t
typedef boost::shared_ptr
< PathVector
PathVectorPtr_t
typedef boost::shared_ptr
< PlanAndOptimize
PlanAndOptimizePtr_t
typedef ProblemProblemPtr_t
typedef ProblemSolverProblemSolverPtr_t
typedef boost::shared_ptr
< RandomShortcut
RandomShortcutPtr_t
typedef boost::shared_ptr
< Roadmap
RoadmapPtr_t
typedef boost::shared_ptr
< StraightPath
StraightPathPtr_t
typedef boost::shared_ptr
< SteeringMethod
SteeringMethodPtr_t
typedef boost::shared_ptr
< SteeringMethodStraight
SteeringMethodStraightPtr_t
typedef std::vector< PathPtr_tPaths_t
typedef std::vector
< PathVectorPtr_t
PathVectors_t
typedef model::vector_t vector_t
typedef model::vectorIn_t vectorIn_t
typedef model::vectorOut_t vectorOut_t
typedef boost::shared_ptr
< VisibilityPrmPlanner
VisibilityPrmPlannerPtr_t
typedef boost::shared_ptr
< WeighedDistance
WeighedDistancePtr_t
typedef std::map< std::string,
DifferentiableFunctionPtr_t
DifferentiableFunctionMap_t
typedef std::map< std::string,
ComparisonTypePtr_t
ComparisonTypeMap_t
typedef std::map< std::string,
SizeIntervals_t
SizeIntervalsMap_t
typedef std::map< std::string,
CenterOfMassComputationPtr_t
CenterOfMassComputationMap_t
typedef std::pair
< CollisionObjectPtr_t,
CollisionObjectPtr_t
CollisionPair_t
typedef std::list
< CollisionPair_t
CollisionPairs_t
typedef NearestNeighbor * NearestNeighborPtr_t
typedef boost::shared_ptr
< PathProjector
PathProjectorPtr_t

Functions

std::ostream & operator<< (std::ostream &os, const Constraint &constraint)
 HPP_PREDEF_CLASS (BasicConfigurationShooter)
 HPP_PREDEF_CLASS (CollisionValidation)
 HPP_PREDEF_CLASS (ConfigurationShooter)
 HPP_PREDEF_CLASS (ConfigProjector)
 HPP_PREDEF_CLASS (ConfigValidation)
 HPP_PREDEF_CLASS (ConfigValidations)
 HPP_PREDEF_CLASS (ConnectedComponent)
 HPP_PREDEF_CLASS (Constraint)
 HPP_PREDEF_CLASS (ConstraintSet)
 HPP_PREDEF_CLASS (DiffusingPlanner)
 HPP_PREDEF_CLASS (Distance)
 HPP_PREDEF_CLASS (DistanceBetweenObjects)
 HPP_PREDEF_CLASS (DiscretizedCollisionChecking)
 HPP_PREDEF_CLASS (NumericalConstraint)
 HPP_PREDEF_CLASS (LockedJoint)
 HPP_PREDEF_CLASS (ExtractedPath)
 HPP_PREDEF_CLASS (JointBoundValidation)
 HPP_PREDEF_CLASS (Path)
 HPP_PREDEF_CLASS (PathOptimizer)
 HPP_PREDEF_CLASS (PathPlanner)
 HPP_PREDEF_CLASS (PathVector)
 HPP_PREDEF_CLASS (PathValidation)
 HPP_PREDEF_CLASS (PlanAndOptimize)
 HPP_PREDEF_CLASS (Problem)
 HPP_PREDEF_CLASS (RandomShortcut)
 HPP_PREDEF_CLASS (Roadmap)
 HPP_PREDEF_CLASS (SteeringMethod)
 HPP_PREDEF_CLASS (SteeringMethodStraight)
 HPP_PREDEF_CLASS (StraightPath)
 HPP_PREDEF_CLASS (VisibilityPrmPlanner)
 HPP_PREDEF_CLASS (WeighedDistance)
 HPP_PREDEF_CLASS (PathProjector)
std::ostream & operator<< (std::ostream &os, const Node &n)
std::ostream & operator<< (std::ostream &os, const Path &path)
std::ostream & operator<< (std::ostream &os, const Roadmap &r)

Typedef Documentation

typedef hpp::model::Body hpp::core::Body
typedef hpp::model::BodyPtr_t hpp::core::BodyPtr_t
typedef model::CenterOfMassComputationPtr_t hpp::core::CenterOfMassComputationPtr_t
typedef model::CollisionObjectPtr_t hpp::core::CollisionObjectPtr_t
typedef std::map<std::string, ComparisonTypePtr_t> hpp::core::ComparisonTypeMap_t
typedef boost::shared_ptr<ComparisonType> hpp::core::ComparisonTypePtr_t
typedef Configurations_t::const_iterator hpp::core::ConfigConstIterator_t
typedef Configurations_t::iterator hpp::core::ConfigIterator_t
typedef model::Configuration_t hpp::core::Configuration_t
typedef model::ConfigurationIn_t hpp::core::ConfigurationIn_t
typedef model::ConfigurationOut_t hpp::core::ConfigurationOut_t
typedef model::ConfigurationPtr_t hpp::core::ConfigurationPtr_t
typedef boost::shared_ptr<Constraint> hpp::core::ConstraintPtr_t
typedef boost::shared_ptr<ConstraintSet> hpp::core::ConstraintSetPtr_t
typedef model::Device hpp::core::Device_t
typedef model::DevicePtr_t hpp::core::DevicePtr_t
typedef std::deque<DevicePtr_t> hpp::core::Devices_t
typedef model::DeviceWkPtr_t hpp::core::DeviceWkPtr_t
typedef constraints::DifferentiableFunction hpp::core::DifferentiableFunction
typedef constraints::DifferentiableFunctionPtr_t hpp::core::DifferentiableFunctionPtr_t
typedef boost::shared_ptr<Distance> hpp::core::DistancePtr_t
typedef model::DistanceResult hpp::core::DistanceResult
typedef model::DistanceResults_t hpp::core::DistanceResults_t
typedef std::list<Edge*> hpp::core::Edges_t
typedef boost::shared_ptr<Equality> hpp::core::EqualityPtr_t
typedef boost::shared_ptr<EqualToZero> hpp::core::EqualToZeroPtr_t
typedef boost::shared_ptr<ExtractedPath> hpp::core::ExtractedPathPtr_t
typedef model::HalfJointJacobian_t hpp::core::HalfJointJacobian_t
typedef model::Joint hpp::core::Joint
typedef model::JointConstPtr_t hpp::core::JointConstPtr_t
typedef model::JointJacobian_t hpp::core::JointJacobian_t
typedef model::JointPtr_t hpp::core::JointPtr_t
typedef model::JointVector_t hpp::core::JointVector_t
typedef KDTree* hpp::core::KDTreePtr_t
typedef boost::shared_ptr<LockedJoint> hpp::core::LockedJointPtr_t
typedef model::matrix_t hpp::core::matrix_t
typedef constraints::matrixIn_t hpp::core::matrixIn_t
typedef constraints::matrixOut_t hpp::core::matrixOut_t
typedef NearestNeighbor* hpp::core::NearestNeighborPtr_t
typedef std::list<Node*> hpp::core::Nodes_t
typedef model::ObjectVector_t hpp::core::ObjectVector_t
typedef boost::shared_ptr<const Path> hpp::core::PathConstPtr_t
typedef boost::shared_ptr<PathOptimizer> hpp::core::PathOptimizerPtr_t
typedef boost::shared_ptr<PathPlanner> hpp::core::PathPlannerPtr_t
typedef boost::shared_ptr<PathProjector> hpp::core::PathProjectorPtr_t
typedef boost::shared_ptr<Path> hpp::core::PathPtr_t
typedef std::vector<PathPtr_t> hpp::core::Paths_t
typedef boost::shared_ptr<PathValidation> hpp::core::PathValidationPtr_t
typedef boost::shared_ptr<PathVector> hpp::core::PathVectorPtr_t
typedef boost::shared_ptr<RandomShortcut> hpp::core::RandomShortcutPtr_t
typedef boost::shared_ptr<Roadmap> hpp::core::RoadmapPtr_t
typedef model::size_type hpp::core::size_type
typedef std::map<std::string, SizeIntervals_t> hpp::core::SizeIntervalsMap_t
typedef boost::shared_ptr<SteeringMethod> hpp::core::SteeringMethodPtr_t
typedef boost::shared_ptr<StraightPath> hpp::core::StraightPathPtr_t
typedef model::value_type hpp::core::value_type
typedef model::vector_t hpp::core::vector_t
typedef model::vectorIn_t hpp::core::vectorIn_t
typedef model::vectorOut_t hpp::core::vectorOut_t

Function Documentation

hpp::core::HPP_PREDEF_CLASS ( BasicConfigurationShooter  )
hpp::core::HPP_PREDEF_CLASS ( CollisionValidation  )
hpp::core::HPP_PREDEF_CLASS ( ConfigurationShooter  )
hpp::core::HPP_PREDEF_CLASS ( ConfigProjector  )
hpp::core::HPP_PREDEF_CLASS ( ConfigValidation  )
hpp::core::HPP_PREDEF_CLASS ( ConfigValidations  )
hpp::core::HPP_PREDEF_CLASS ( ConnectedComponent  )
hpp::core::HPP_PREDEF_CLASS ( Constraint  )
hpp::core::HPP_PREDEF_CLASS ( ConstraintSet  )
hpp::core::HPP_PREDEF_CLASS ( DiffusingPlanner  )
hpp::core::HPP_PREDEF_CLASS ( Distance  )
hpp::core::HPP_PREDEF_CLASS ( DistanceBetweenObjects  )
hpp::core::HPP_PREDEF_CLASS ( DiscretizedCollisionChecking  )
hpp::core::HPP_PREDEF_CLASS ( NumericalConstraint  )
hpp::core::HPP_PREDEF_CLASS ( LockedJoint  )
hpp::core::HPP_PREDEF_CLASS ( ExtractedPath  )
hpp::core::HPP_PREDEF_CLASS ( JointBoundValidation  )
hpp::core::HPP_PREDEF_CLASS ( Path  )
hpp::core::HPP_PREDEF_CLASS ( PathOptimizer  )
hpp::core::HPP_PREDEF_CLASS ( PathPlanner  )
hpp::core::HPP_PREDEF_CLASS ( PathVector  )
hpp::core::HPP_PREDEF_CLASS ( PathValidation  )
hpp::core::HPP_PREDEF_CLASS ( PlanAndOptimize  )
hpp::core::HPP_PREDEF_CLASS ( Problem  )
hpp::core::HPP_PREDEF_CLASS ( RandomShortcut  )
hpp::core::HPP_PREDEF_CLASS ( Roadmap  )
hpp::core::HPP_PREDEF_CLASS ( SteeringMethod  )
hpp::core::HPP_PREDEF_CLASS ( SteeringMethodStraight  )
hpp::core::HPP_PREDEF_CLASS ( StraightPath  )
hpp::core::HPP_PREDEF_CLASS ( VisibilityPrmPlanner  )
hpp::core::HPP_PREDEF_CLASS ( WeighedDistance  )
hpp::core::HPP_PREDEF_CLASS ( PathProjector  )
std::ostream& hpp::core::operator<< ( std::ostream &  os,
const Path &  path 
) [inline]