Chpp::core::continuousCollisionChecking::BodyPairCollision | Computation of collision-free sub-intervals of a path |
Chpp::core::pathOptimization::ConfigOptimizationTraits | Optimize the waypoints of the path and optionally add the constraint::ConfigurationConstraint to the ConfigProjector of the path |
►Chpp::core::ConfigurationShooter | Abstraction of configuration shooter |
Chpp::core::BasicConfigurationShooter | Uniformly sample with bounds of degrees of freedom |
►Chpp::core::ConfigValidation | Abstraction of configuration validation |
Chpp::core::CollisionValidation | Validate a configuration with respect to collision |
Chpp::core::ConfigValidations | Validate a configuration with respect to collision |
Chpp::core::JointBoundValidation | Validate a configuration with respect to joint bounds |
Chpp::core::ConnectedComponent | Connected component |
►Chpp::core::Constraint | Constraint applicable to a robot configuration |
Chpp::core::ConfigProjector | Implicit non-linear constraint |
Chpp::core::ConstraintSet | Set of constraints applicable to a robot configuration |
Chpp::core::Container< Types, Key > | |
Chpp::core::Container< AffordanceConfig_t > | |
Chpp::core::Container< AffordanceObjects_t > | |
Chpp::core::Container< boost::any > | |
Chpp::core::Container< CenterOfMassComputationPtr_t > | |
Chpp::core::Container< ConfigurationShooterBuilder_t > | |
Chpp::core::Container< ConfigValidationBuilder_t > | |
Chpp::core::Container< DistanceBuilder_t > | |
Chpp::core::Container< JointAndShapes_t > | |
Chpp::core::Container< LockedJointPtr_t > | |
Chpp::core::Container< NumericalConstraintPtr_t > | |
Chpp::core::Container< PathOptimizerBuilder_t > | |
Chpp::core::Container< PathPlannerBuilder_t > | |
Chpp::core::Container< PathProjectorBuilder_t > | |
Chpp::core::Container< PathValidationBuilder_t > | |
Chpp::core::Container< RobotBuilder_t > | |
Chpp::core::Container< segments_t > | |
Chpp::core::Container< SteeringMethodBuilder_t > | |
►Chpp::constraints::DifferentiableFunction [external] | |
Chpp::core::ExplicitRelativeTransformation | Relative transformation as an explicit constraint |
►Chpp::core::pathOptimization::Cost | Numerical cost for path optimization |
Chpp::core::pathOptimization::PathLength | Path length as a cost for optimization |
Chpp::core::TimesFrameFunction | |
►Chpp::core::Distance | Abstract class for distance between configurations |
Chpp::core::distance::ReedsShepp | Reeds and Shepp distance |
Chpp::core::WeighedDistance | Weighed distance between configurations |
Chpp::core::DistanceBetweenObjects | Computation of distances between pairs of objects |
Chpp::core::Edge | Edge of a roadmap |
►Chpp::core::Equation | This class represents an equation with the following format \( f(q) = \textbf{or} \le rhs \) |
►Chpp::core::NumericalConstraint | With the same notation as in Equation, this class represents equation: |
►Chpp::core::ExplicitNumericalConstraint | Explicit numerical constraint |
Chpp::core::LockedJoint | Implementation of Equation specific to locked joint |
►Cstd::exception | STL class |
Chpp::core::projection_error | |
Chpp::core::pathOptimization::LinearConstraint | A linear constraint \( J \times x = b \) |
Chpp::core::NearestNeighbor | Optimization of the nearest neighbor search |
Chpp::core::Node | Node of a roadmap |
►CNumTraits | |
CEigen::NumTraits< hpp::core::RelativeMotion::RelativeMotionType > | |
►Chpp::util::parser::ObjectFactory [external] | |
Chpp::core::parser::RoadmapFactory | |
Chpp::core::pathOptimization::ConfigOptimization::Optimizer | |
Chpp::core::pathOptimization::ConfigOptimization::Parameters | |
Chpp::core::pathOptimization::PartialShortcut::Parameters | |
Chpp::core::pathOptimization::PartialShortcutTraits | Partial shortcut |
►Chpp::core::Path | Abstraction of paths: mapping from time to configuration space |
Chpp::core::DubinsPath | Car like motion going only forward |
Chpp::core::InterpolatedPath | Piecewise linear interpolation between two configurations |
Chpp::core::path::Spline< _PolynomeBasis, _Order > | Base class for spline paths |
►Chpp::core::PathVector | Concatenation of several paths |
Chpp::core::ReedsSheppPath | Car like motion |
Chpp::core::steeringMethod::ConstantCurvature | Path of constant curvature for a carlike robot |
Chpp::core::StraightPath | Linear interpolation between two configurations |
Chpp::core::SubchainPath | Result of the selection of some configuration parameter of an original path |
►Chpp::core::path::Spline< BernsteinBasis, 3 > | |
Chpp::core::path::Hermite | |
►Chpp::core::PathOptimizer | Abstraction of path optimizer |
Chpp::core::pathOptimization::ConfigOptimization | |
Chpp::core::pathOptimization::GradientBased | |
Chpp::core::pathOptimization::PartialShortcut | |
Chpp::core::pathOptimization::SimpleTimeParameterization | Add a TimeParameterization to paths so that the velocity does not exceeds the velocity limits |
►Chpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | Common base for optimization-based path optimizer with splines |
Chpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder > | |
Chpp::core::RandomShortcut | Random shortcut |
►Chpp::core::PathPlanner | Path planner |
Chpp::core::BiRRTPlanner | Implementation of directional bi-RRT algorithm maintaining only two connected components for respectively the start and goal configurations |
Chpp::core::DiffusingPlanner | Generic implementation of RRT algorithm |
Chpp::core::pathPlanner::kPrmStar | K-PRM* path planning algorithm as described in https://arxiv.org/pdf/1105.1186.pdf |
Chpp::core::PlanAndOptimize | Path planner and optimizer |
Chpp::core::VisibilityPrmPlanner | Generic implementation of visibility-PRM algorithm, based on guard nodes (which cannot see each other) and connection nodes between guards |
►Chpp::core::PathProjector | This class projects a path using constraints |
Chpp::core::pathProjector::Dichotomy | |
Chpp::core::pathProjector::Global | |
Chpp::core::pathProjector::Progressive | |
Chpp::core::pathProjector::RecursiveHermite | Implements "Fast Interpolation and Time-Optimization on Implicit Contact Submanifolds" from Kris Hauser |
►Chpp::core::PathValidation | Abstraction of path validation |
►Chpp::core::ContinuousCollisionChecking | Continuous validation of a path for collision |
Chpp::core::continuousCollisionChecking::Dichotomy | Continuous validation of a path for collision |
Chpp::core::continuousCollisionChecking::Progressive | Continuous validation of a path for collision |
►Chpp::core::DiscretizedPathValidation | Discretized validation of a path |
Chpp::core::DiscretizedCollisionChecking | Validation of path by collision checking at discretized parameter values |
Chpp::core::PathValidations | Validation of a path with multiple path validation methods |
Chpp::core::Problem | Defines a path planning problem for one robot |
Chpp::core::ProblemSolver | Set and solve a path planning problem |
►Chpp::core::ProblemTarget | Problem target |
Chpp::core::problemTarget::GoalConfigurations | Goal configurations |
Chpp::core::problemTarget::TaskTarget | Task target |
Chpp::core::pathOptimization::QuadraticProgram | |
Chpp::core::RelativeMotion | |
Chpp::core::Roadmap | Roadmap built by random path planning methods Nodes are configurations, paths are collision-free paths |
Chpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >::SplineOptimizationData | |
►Chpp::core::SteeringMethod | Steering method |
►Chpp::core::steeringMethod::CarLike | Abstract class that implements various type of trajectories for carlike vehicles |
Chpp::core::steeringMethod::Dubins | Steering method that creates DubinsPath instances |
Chpp::core::steeringMethod::ReedsShepp | Steering method that creates ReedsSheppPath instances |
Chpp::core::steeringMethod::Snibud | Steering method that creates backward Dubins paths |
Chpp::core::steeringMethod::Hermite | Steering method that creates path::Hermite instances |
Chpp::core::steeringMethod::Interpolated | Steering method that creates StraightPath instances |
Chpp::core::steeringMethod::Spline< _PolynomeBasis, _SplineOrder > | Steering method that creates path::Spline instances |
Chpp::core::steeringMethod::Straight | Steering method that creates StraightPath instances |
►Chpp::core::TimeParameterization | |
Chpp::core::timeParameterization::Polynomial | |
►Chpp::core::ValidationReport | Abstraction of validation report for paths and configurations |
Chpp::core::CollisionValidationReport | Validate a configuration with respect to collision |
Chpp::core::JointBoundValidationReport | Report returned when a configuration is not within the bounds |
►Chpp::core::PathValidationReport | Abstraction of path validation report |
Chpp::core::CollisionPathValidationReport | Path validation report used for standard collision checking |