hpp-core  4.13.0
Implement basic classes for canonical path planning for kinematic chains.
fwd.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux, Joseph Mirabel
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5 
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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>
36 #include <hpp/core/deprecated.hh>
37 #include <hpp/util/pointer.hh>
38 #include <list>
39 #include <map>
40 #include <set>
41 #include <vector>
42 
43 namespace hpp {
44 namespace core {
45 HPP_PREDEF_CLASS(BiRRTPlanner);
46 HPP_PREDEF_CLASS(CollisionValidation);
47 HPP_PREDEF_CLASS(CollisionValidationReport);
48 HPP_PREDEF_CLASS(AllCollisionsValidationReport);
49 HPP_PREDEF_CLASS(ConfigurationShooter);
50 HPP_PREDEF_CLASS(ConfigProjector);
51 HPP_PREDEF_CLASS(ConfigValidation);
52 HPP_PREDEF_CLASS(ConfigValidations);
53 HPP_PREDEF_CLASS(ConnectedComponent);
54 HPP_PREDEF_CLASS(Constraint);
55 HPP_PREDEF_CLASS(ConstraintSet);
56 HPP_PREDEF_CLASS(DiffusingPlanner);
57 HPP_PREDEF_CLASS(Distance);
58 HPP_PREDEF_CLASS(DistanceBetweenObjects);
59 class Edge;
60 HPP_PREDEF_CLASS(ExtractedPath);
61 HPP_PREDEF_CLASS(SubchainPath);
62 HPP_PREDEF_CLASS(JointBoundValidation);
63 struct JointBoundValidationReport;
64 class Node;
65 HPP_PREDEF_CLASS(Path);
66 HPP_PREDEF_CLASS(TimeParameterization);
67 HPP_PREDEF_CLASS(PathOptimizer);
68 HPP_PREDEF_CLASS(PathPlanner);
69 HPP_PREDEF_CLASS(ProblemTarget);
70 HPP_PREDEF_CLASS(PathVector);
71 HPP_PREDEF_CLASS(PlanAndOptimize);
72 HPP_PREDEF_CLASS(Problem);
73 class ProblemSolver;
74 HPP_PREDEF_CLASS(Roadmap);
75 HPP_PREDEF_CLASS(SteeringMethod);
76 HPP_PREDEF_CLASS(StraightPath);
77 HPP_PREDEF_CLASS(InterpolatedPath);
78 HPP_PREDEF_CLASS(DubinsPath);
79 HPP_PREDEF_CLASS(ReedsSheppPath);
80 HPP_PREDEF_CLASS(KinodynamicPath);
81 HPP_PREDEF_CLASS(KinodynamicOrientedPath);
82 HPP_PREDEF_CLASS(ValidationReport);
83 HPP_PREDEF_CLASS(VisibilityPrmPlanner);
84 HPP_PREDEF_CLASS(WeighedDistance);
85 HPP_PREDEF_CLASS(KinodynamicDistance);
86 class KDTree;
87 
90 
91 typedef shared_ptr<BiRRTPlanner> BiRRTPlannerPtr_t;
94 typedef shared_ptr<CollisionValidation> CollisionValidationPtr_t;
95 typedef shared_ptr<CollisionValidationReport> CollisionValidationReportPtr_t;
96 typedef shared_ptr<AllCollisionsValidationReport>
103 typedef shared_ptr<FclCollisionObject> FclCollisionObjectSharePtr_t;
104 
109 typedef std::vector<ConfigurationPtr_t> Configurations_t;
110 typedef Configurations_t::iterator ConfigIterator_t;
111 typedef Configurations_t::const_iterator ConfigConstIterator_t;
112 typedef shared_ptr<ConfigurationShooter> ConfigurationShooterPtr_t;
113 typedef shared_ptr<ConfigProjector> ConfigProjectorPtr_t;
114 typedef shared_ptr<ConfigValidation> ConfigValidationPtr_t;
115 typedef shared_ptr<ConfigValidations> ConfigValidationsPtr_t;
116 typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
117 typedef std::set<ConnectedComponentPtr_t> ConnectedComponents_t;
118 typedef shared_ptr<Constraint> ConstraintPtr_t;
119 typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
120 typedef shared_ptr<const ConstraintSet> ConstraintSetConstPtr_t;
121 typedef std::vector<ConstraintPtr_t> Constraints_t;
122 typedef pinocchio::Device Device_t;
126 typedef std::deque<DevicePtr_t> Devices_t;
129 typedef shared_ptr<DiffusingPlanner> DiffusingPlannerPtr_t;
130 typedef shared_ptr<Distance> DistancePtr_t;
131 typedef shared_ptr<DistanceBetweenObjects> DistanceBetweenObjectsPtr_t;
133 typedef Edge* EdgePtr_t;
134 typedef std::list<Edge*> Edges_t;
135 typedef shared_ptr<ExtractedPath> ExtractedPathPtr_t;
136 typedef shared_ptr<SubchainPath> SubchainPathPtr_t;
142 typedef shared_ptr<JointBoundValidation> JointBoundValidationPtr_t;
143 typedef shared_ptr<JointBoundValidationReport> JointBoundValidationReportPtr_t;
146 typedef KDTree* KDTreePtr_t;
164 typedef std::pair<value_type, value_type> interval_t;
169 typedef Node* NodePtr_t;
170 typedef std::list<NodePtr_t> Nodes_t;
171 typedef std::vector<NodePtr_t> NodeVector_t;
173 typedef std::vector<CollisionObjectPtr_t> ObjectStdVector_t;
174 typedef std::vector<CollisionObjectConstPtr_t> ConstObjectStdVector_t;
175 
176 typedef shared_ptr<Path> PathPtr_t;
177 typedef shared_ptr<const Path> PathConstPtr_t;
178 typedef shared_ptr<TimeParameterization> TimeParameterizationPtr_t;
179 typedef shared_ptr<PathOptimizer> PathOptimizerPtr_t;
180 typedef shared_ptr<PathPlanner> PathPlannerPtr_t;
181 typedef shared_ptr<ProblemTarget> ProblemTargetPtr_t;
182 typedef shared_ptr<PathVector> PathVectorPtr_t;
183 typedef shared_ptr<const PathVector> PathVectorConstPtr_t;
184 typedef shared_ptr<PlanAndOptimize> PlanAndOptimizePtr_t;
185 typedef shared_ptr<Problem> ProblemPtr_t;
186 typedef shared_ptr<const Problem> ProblemConstPtr_t;
188 typedef shared_ptr<Roadmap> RoadmapPtr_t;
189 typedef shared_ptr<StraightPath> StraightPathPtr_t;
190 typedef shared_ptr<const StraightPath> StraightPathConstPtr_t;
191 typedef shared_ptr<ReedsSheppPath> ReedsSheppPathPtr_t;
192 typedef shared_ptr<const ReedsSheppPath> ReedsSheppPathConstPtr_t;
193 typedef shared_ptr<DubinsPath> DubinsPathPtr_t;
194 typedef shared_ptr<const DubinsPath> DubinsPathConstPtr_t;
195 typedef shared_ptr<KinodynamicPath> KinodynamicPathPtr_t;
196 typedef shared_ptr<const KinodynamicPath> KinodynamicPathConstPtr_t;
197 typedef shared_ptr<KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t;
198 typedef shared_ptr<const KinodynamicOrientedPath>
200 typedef shared_ptr<InterpolatedPath> InterpolatedPathPtr_t;
201 typedef shared_ptr<const InterpolatedPath> InterpolatedPathConstPtr_t;
202 typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
203 typedef std::vector<PathPtr_t> Paths_t;
204 typedef std::vector<PathVectorPtr_t> PathVectors_t;
205 typedef std::vector<PathVectorPtr_t> PathVectors_t;
208 typedef Eigen::Matrix<value_type, 2, 1> vector2_t;
212 typedef Eigen::Matrix<value_type, 1, Eigen::Dynamic> rowvector_t;
213 typedef shared_ptr<VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t;
214 typedef shared_ptr<ValidationReport> ValidationReportPtr_t;
215 typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
216 typedef shared_ptr<KinodynamicDistance> KinodynamicDistancePtr_t;
217 typedef std::map<std::string, constraints::ImplicitPtr_t>
219 typedef std::map<std::string, ComparisonTypes_t> ComparisonTypeMap_t;
220 typedef std::map<std::string, segments_t> segmentsMap_t;
222 typedef std::map<std::string, CenterOfMassComputationPtr_t>
224 
225 // Collision pairs
227 typedef CollisionPair CollisionPair_t; // For backward compatibility.
228 typedef std::vector<CollisionPair_t> CollisionPairs_t;
229 
230 class ExtractedPath;
231 namespace path {
232 template <int _PolynomeBasis, int _Order>
233 class Spline;
235 typedef shared_ptr<Hermite> HermitePtr_t;
236 typedef shared_ptr<const Hermite> HermiteConstPtr_t;
237 } // namespace path
238 
240 typedef shared_ptr<ContinuousValidation> ContinuousValidationPtr_t;
241 namespace continuousValidation {
242 HPP_PREDEF_CLASS(Dichotomy);
243 typedef shared_ptr<Dichotomy> DichotomyPtr_t;
245 typedef shared_ptr<Progressive> ProgressivePtr_t;
247 typedef shared_ptr<BodyPairCollision> BodyPairCollisionPtr_t;
248 typedef std::vector<BodyPairCollisionPtr_t> BodyPairCollisions_t;
250 typedef shared_ptr<IntervalValidation> IntervalValidationPtr_t;
251 typedef std::vector<IntervalValidationPtr_t> IntervalValidations_t;
253 typedef shared_ptr<SolidSolidCollision> SolidSolidCollisionPtr_t;
254 } // namespace continuousValidation
255 
256 namespace distance {
257 HPP_PREDEF_CLASS(ReedsShepp);
258 typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
259 } // namespace distance
260 
263 namespace nearestNeighbor {
264 class Basic;
265 class KDTree;
266 typedef KDTree* KDTreePtr_t;
267 typedef Basic* BasicPtr_t;
268 } // namespace nearestNeighbor
269 
270 namespace pathOptimization {
272 typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
274 typedef shared_ptr<SimpleShortcut> SimpleShortcutPtr_t;
276 typedef shared_ptr<Cost> CostPtr_t;
278 typedef shared_ptr<GradientBased> GradientBasedPtr_t;
279 HPP_PREDEF_CLASS(PathLength);
280 typedef shared_ptr<PathLength> PathLengthPtr_t;
282 typedef shared_ptr<PartialShortcut> PartialShortcutPtr_t;
284 typedef shared_ptr<SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
286 typedef shared_ptr<ConfigOptimization> ConfigOptimizationPtr_t;
287 } // namespace pathOptimization
288 
289 namespace pathPlanner {
291 typedef shared_ptr<kPrmStar> kPrmStarPtr_t;
292 } // namespace pathPlanner
293 
296 typedef shared_ptr<PathValidation> PathValidationPtr_t;
297 typedef shared_ptr<PathValidations> PathValidationsPtr_t;
298 namespace pathValidation {
300 typedef shared_ptr<Discretized> DiscretizedPtr_t;
301 } // namespace pathValidation
302 // Path validation reports
303 struct PathValidationReport;
305 typedef shared_ptr<PathValidationReport> PathValidationReportPtr_t;
306 typedef shared_ptr<CollisionPathValidationReport>
308 typedef std::vector<CollisionPathValidationReport>
310 
312 typedef shared_ptr<PathProjector> PathProjectorPtr_t;
313 namespace pathProjector {
315 typedef shared_ptr<Global> GlobalPtr_t;
317 typedef shared_ptr<Dichotomy> DichotomyPtr_t;
319 typedef shared_ptr<Progressive> ProgressivePtr_t;
321 typedef shared_ptr<RecursiveHermite> RecursiveHermitePtr_t;
322 } // namespace pathProjector
323 
324 namespace steeringMethod {
326 typedef shared_ptr<Interpolated> InterpolatedPtr_t;
328 typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
330 typedef shared_ptr<Kinodynamic> KinodynamicPtr_t;
331 } // namespace steeringMethod
332 
333 namespace problemTarget {
336 typedef shared_ptr<GoalConfigurations> GoalConfigurationsPtr_t;
337 typedef shared_ptr<TaskTarget> TaskTargetPtr_t;
338 } // namespace problemTarget
339 
340 namespace configurationShooter {
341 HPP_PREDEF_CLASS(Uniform);
342 typedef shared_ptr<Uniform> UniformPtr_t;
344 typedef shared_ptr<Gaussian> GaussianPtr_t;
345 } // namespace configurationShooter
346 
352 
353 namespace continuousCollisionChecking = continuousValidation;
354 
355 } // namespace core
356 } // namespace hpp
357 
358 #endif // HPP_CORE_FWD_HH
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:178
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:150
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:248
Node * NodePtr_t
Definition: fwd.hh:169
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:148
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:319
const FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:102
Definition: interpolated-steering-method.hh:45
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:195
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:284
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:315
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:112
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:152
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:126
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:192
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:123
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:184
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
Definition: problem-solver.hh:78
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:240
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:144
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:200
Definition: dichotomy.hh:39
constraints::ComparisonType ComparisonType
Definition: fwd.hh:89
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:215
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:182
Definition: bi-rrt-planner.hh:35
constraints::segment_t segment_t
Definition: fwd.hh:167
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:135
HPP_PREDEF_CLASS(BiRRTPlanner)
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:86
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:149
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:166
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:131
Definition: edge.hh:46
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:276
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:336
hpp::pinocchio::Body Body
Definition: fwd.hh:92
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:164
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:174
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:124
KDTree * KDTreePtr_t
Definition: fwd.hh:265
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:272
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:142
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:220
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:286
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:213
shared_ptr< Gaussian > GaussianPtr_t
Definition: fwd.hh:344
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
Definition: continuous-validation.hh:96
pinocchio::size_type size_type
Definition: fwd.hh:162
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:251
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:307
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:111
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:186
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:219
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:300
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:180
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:128
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:189
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:139
Definition: goal-configurations.hh:46
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:203
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:95
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:140
This class projects a path using constraints.
Definition: path-projector.hh:38
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:245
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:228
Definition: steering-kinodynamic.hh:56
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:236
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:137
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:204
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:127
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:125
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:114
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:280
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:121
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:157
Definition: gradient-based.hh:45
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:317
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:216
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:321
Definition: collision-pair.hh:45
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:97
Definition: cost.hh:44
HPP_PREDEF_CLASS(Discretized)
HPP_PREDEF_CLASS(Hermite)
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:337
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:145
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:312
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:130
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:183
Basic * BasicPtr_t
Definition: fwd.hh:267
HPP_PREDEF_CLASS(RandomShortcut)
Definition: simple-time-parameterization.hh:185
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:309
Edge * EdgePtr_t
Definition: fwd.hh:133
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:330
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:342
Definition: interval-validation.hh:67
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:221
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:113
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:326
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:214
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:350
std::set< ConnectedComponentPtr_t > ConnectedComponents_t
Definition: fwd.hh:117
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:210
Definition: node.hh:46
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:161
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:155
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:187
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:159
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:110
pinocchio::matrix_t matrix_t
Definition: fwd.hh:151
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:115
Definition: config-optimization.hh:71
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:143
Definition: path-validations.hh:44
Definition: recursive-hermite.hh:42
Definition: path-validation.hh:51
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:116
Definition: task-target.hh:50
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:291
HPP_PREDEF_CLASS(ReedsShepp)
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:119
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:253
Definition: global.hh:41
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:297
Path validation report used for standard collision checking.
Definition: collision-path-validation-report.hh:42
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:282
pinocchio::vector_t vector_t
Definition: fwd.hh:209
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:132
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:170
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:304
pinocchio::value_type value_type
Definition: fwd.hh:163
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:100
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:120
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:351
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:328
pinocchio::Device Device_t
Definition: fwd.hh:122
pinocchio::Joint Joint
Definition: fwd.hh:138
pinocchio::Transform3f Transform3f
Definition: fwd.hh:206
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:261
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:201
constraints::matrix6_t matrix6_t
Definition: fwd.hh:153
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:179
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:274
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:94
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:188
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:156
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:109
Definition: partial-shortcut.hh:63
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:108
Definition: simple-shortcut.hh:48
Definition: random-shortcut.hh:49
Definition: body-pair-collision.hh:62
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:191
Definition: path-validation-report.hh:45
CollisionPair CollisionPair_t
Definition: fwd.hh:226
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:171
constraints::Shape_t Shape_t
Definition: fwd.hh:349
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:91
Definition: discretized.hh:46
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:199
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:103
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:223
Definition: hermite.hh:42
std::list< Edge * > Edges_t
Definition: fwd.hh:134
Definition: fwd.hh:233
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:243
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:197
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:172
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:185
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:247
Definition: solid-solid-collision.hh:55
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:208
constraints::segments_t segments_t
Definition: fwd.hh:168
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:202
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:190
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:129
pinocchio::vector3_t vector3_t
Definition: fwd.hh:154
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:181
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:211
Definition: reeds-shepp.hh:47
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:196
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:278
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:250
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:194
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:158
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:258
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:193
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:160
HPP_PREDEF_CLASS(Interpolated)
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:218
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:136
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:235
HPP_PREDEF_CLASS(GoalConfigurations)
KDTree * KDTreePtr_t
Definition: fwd.hh:146
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
Definition: k-prm-star.hh:40
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:101
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:212
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:93
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:177
Definition: progressive.hh:37
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:118
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:176
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:296
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:173
constraints::LockedJoint LockedJoint
Definition: fwd.hh:147