hpp-core  4.11.0
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
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-core is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_CORE_FWD_HH
20 # define HPP_CORE_FWD_HH
21 
22 
23 # include <vector>
24 # include <map>
25 # include <deque>
26 # include <list>
27 # include <set>
28 # include <hpp/util/pointer.hh>
29 # include <hpp/constraints/fwd.hh>
30 # include <hpp/core/config.hh>
31 # include <hpp/core/deprecated.hh>
32 
33 namespace hpp {
34  namespace core {
35  HPP_PREDEF_CLASS (BiRRTPlanner);
36  HPP_PREDEF_CLASS (CollisionValidation);
37  HPP_PREDEF_CLASS (CollisionValidationReport);
38  HPP_PREDEF_CLASS (AllCollisionsValidationReport);
39  HPP_PREDEF_CLASS (ConfigurationShooter);
40  HPP_PREDEF_CLASS (ConfigProjector);
41  HPP_PREDEF_CLASS (ConfigValidation);
42  HPP_PREDEF_CLASS (ConfigValidations);
43  HPP_PREDEF_CLASS (ConnectedComponent);
44  HPP_PREDEF_CLASS (Constraint);
45  HPP_PREDEF_CLASS (ConstraintSet);
46  HPP_PREDEF_CLASS (DiffusingPlanner);
47  HPP_PREDEF_CLASS (Distance);
48  HPP_PREDEF_CLASS (DistanceBetweenObjects);
49  class Edge;
50  HPP_PREDEF_CLASS (ExtractedPath);
51  HPP_PREDEF_CLASS (SubchainPath);
52  HPP_PREDEF_CLASS (JointBoundValidation);
53  struct JointBoundValidationReport;
54  class Node;
55  HPP_PREDEF_CLASS (Path);
56  HPP_PREDEF_CLASS (TimeParameterization);
57  HPP_PREDEF_CLASS (PathOptimizer);
58  HPP_PREDEF_CLASS (PathPlanner);
59  HPP_PREDEF_CLASS (ProblemTarget);
60  HPP_PREDEF_CLASS (PathVector);
61  HPP_PREDEF_CLASS (PlanAndOptimize);
62  HPP_PREDEF_CLASS (Problem);
63  class ProblemSolver;
64  HPP_PREDEF_CLASS (Roadmap);
65  HPP_PREDEF_CLASS (SteeringMethod);
66  HPP_PREDEF_CLASS (StraightPath);
67  HPP_PREDEF_CLASS (InterpolatedPath);
68  HPP_PREDEF_CLASS (DubinsPath);
69  HPP_PREDEF_CLASS (ReedsSheppPath);
70  HPP_PREDEF_CLASS (KinodynamicPath);
71  HPP_PREDEF_CLASS (KinodynamicOrientedPath);
72  HPP_PREDEF_CLASS (ValidationReport);
73  HPP_PREDEF_CLASS (VisibilityPrmPlanner);
74  HPP_PREDEF_CLASS (WeighedDistance);
75  HPP_PREDEF_CLASS (KinodynamicDistance);
76  class KDTree;
77 
80 
81  typedef shared_ptr <BiRRTPlanner> BiRRTPlannerPtr_t;
84  typedef shared_ptr <CollisionValidation> CollisionValidationPtr_t;
85  typedef shared_ptr <CollisionValidationReport>
87  typedef shared_ptr <AllCollisionsValidationReport>
92  typedef FclCollisionObject * FclCollisionObjectPtr_t;
93  typedef const FclCollisionObject * FclConstCollisionObjectPtr_t;
94  typedef shared_ptr <FclCollisionObject> FclCollisionObjectSharePtr_t;
95 
100  typedef std::vector <ConfigurationPtr_t> Configurations_t;
101  typedef Configurations_t::iterator ConfigIterator_t;
102  typedef Configurations_t::const_iterator ConfigConstIterator_t;
103  typedef shared_ptr <ConfigurationShooter> ConfigurationShooterPtr_t;
104  typedef shared_ptr <ConfigProjector> ConfigProjectorPtr_t;
105  typedef shared_ptr <ConfigValidation> ConfigValidationPtr_t;
106  typedef shared_ptr <ConfigValidations> ConfigValidationsPtr_t;
107  typedef shared_ptr <ConnectedComponent> ConnectedComponentPtr_t;
108  typedef std::set <ConnectedComponentPtr_t> ConnectedComponents_t;
109  typedef shared_ptr <Constraint> ConstraintPtr_t;
110  typedef shared_ptr <ConstraintSet> ConstraintSetPtr_t;
111  typedef shared_ptr <const ConstraintSet> ConstraintSetConstPtr_t;
112  typedef std::vector<ConstraintPtr_t> Constraints_t;
113  typedef pinocchio::Device Device_t;
117  typedef std::deque <DevicePtr_t> Devices_t;
121  typedef shared_ptr <DiffusingPlanner> DiffusingPlannerPtr_t;
122  typedef shared_ptr <Distance> DistancePtr_t;
123  typedef shared_ptr <DistanceBetweenObjects>
126  typedef Edge* EdgePtr_t;
127  typedef std::list <Edge*> Edges_t;
128  typedef shared_ptr <ExtractedPath> ExtractedPathPtr_t;
129  typedef shared_ptr <SubchainPath> SubchainPathPtr_t;
135  typedef shared_ptr <JointBoundValidation> JointBoundValidationPtr_t;
136  typedef shared_ptr <JointBoundValidationReport>
140  typedef KDTree* KDTreePtr_t;
158  typedef std::pair<value_type, value_type> interval_t;
163  typedef Node* NodePtr_t;
164  typedef std::list <NodePtr_t> Nodes_t;
165  typedef std::vector <NodePtr_t> NodeVector_t;
167  typedef std::vector<CollisionObjectPtr_t> ObjectStdVector_t;
168  typedef std::vector<CollisionObjectConstPtr_t> ConstObjectStdVector_t;
169 
170  typedef shared_ptr <Path> PathPtr_t;
171  typedef shared_ptr <const Path> PathConstPtr_t;
172  typedef shared_ptr <TimeParameterization> TimeParameterizationPtr_t;
173  typedef shared_ptr <PathOptimizer> PathOptimizerPtr_t;
174  typedef shared_ptr <PathPlanner> PathPlannerPtr_t;
175  typedef shared_ptr <ProblemTarget> ProblemTargetPtr_t;
176  typedef shared_ptr <PathVector> PathVectorPtr_t;
177  typedef shared_ptr <const PathVector> PathVectorConstPtr_t;
178  typedef shared_ptr <PlanAndOptimize> PlanAndOptimizePtr_t;
179  typedef shared_ptr <Problem> ProblemPtr_t;
180  typedef shared_ptr <const Problem> ProblemConstPtr_t;
182  typedef shared_ptr <Roadmap> RoadmapPtr_t;
183  typedef shared_ptr <StraightPath> StraightPathPtr_t;
184  typedef shared_ptr <const StraightPath> StraightPathConstPtr_t;
185  typedef shared_ptr <ReedsSheppPath> ReedsSheppPathPtr_t;
186  typedef shared_ptr <const ReedsSheppPath> ReedsSheppPathConstPtr_t;
187  typedef shared_ptr <DubinsPath> DubinsPathPtr_t;
188  typedef shared_ptr <const DubinsPath> DubinsPathConstPtr_t;
189  typedef shared_ptr <KinodynamicPath> KinodynamicPathPtr_t;
190  typedef shared_ptr <const KinodynamicPath> KinodynamicPathConstPtr_t;
191  typedef shared_ptr <KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t;
192  typedef shared_ptr <const KinodynamicOrientedPath> KinodynamicOrientedPathConstPtr_t;
193  typedef shared_ptr <InterpolatedPath> InterpolatedPathPtr_t;
194  typedef shared_ptr <const InterpolatedPath> InterpolatedPathConstPtr_t;
195  typedef shared_ptr <SteeringMethod> SteeringMethodPtr_t;
196  typedef std::vector <PathPtr_t> Paths_t;
197  typedef std::vector <PathVectorPtr_t> PathVectors_t;
198  typedef std::vector <PathVectorPtr_t> PathVectors_t;
201  typedef Eigen::Matrix<value_type, 2, 1> vector2_t;
205  typedef Eigen::Matrix<value_type, 1, Eigen::Dynamic> rowvector_t;
206  typedef shared_ptr <VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t;
207  typedef shared_ptr <ValidationReport> ValidationReportPtr_t;
208  typedef shared_ptr <WeighedDistance> WeighedDistancePtr_t;
209  typedef shared_ptr <KinodynamicDistance> KinodynamicDistancePtr_t;
210  typedef std::map <std::string, constraints::ImplicitPtr_t>
212  typedef std::map <std::string, ComparisonTypes_t> ComparisonTypeMap_t;
213  typedef std::map <std::string, segments_t> segmentsMap_t;
215  typedef std::map <std::string, CenterOfMassComputationPtr_t>
217 
218  // Collision pairs
220  typedef CollisionPair CollisionPair_t; // For backward compatibility.
221  typedef std::vector <CollisionPair_t> CollisionPairs_t;
222 
223  class ExtractedPath;
224  namespace path {
225  template <int _PolynomeBasis, int _Order> class Spline;
227  typedef shared_ptr <Hermite> HermitePtr_t;
228  typedef shared_ptr <const Hermite> HermiteConstPtr_t;
229  } // namespace path
230 
232  typedef shared_ptr <ContinuousValidation>
234  namespace continuousValidation {
235  HPP_PREDEF_CLASS (Dichotomy);
236  typedef shared_ptr <Dichotomy> DichotomyPtr_t;
238  typedef shared_ptr <Progressive> ProgressivePtr_t;
240  typedef shared_ptr <BodyPairCollision> BodyPairCollisionPtr_t;
241  typedef std::vector <BodyPairCollisionPtr_t> BodyPairCollisions_t;
243  typedef shared_ptr <IntervalValidation> IntervalValidationPtr_t;
244  typedef std::vector <IntervalValidationPtr_t> IntervalValidations_t;
246  typedef shared_ptr <SolidSolidCollision> SolidSolidCollisionPtr_t;
247  } // namespace continuousValidation
248 
249 
250  namespace distance {
251  HPP_PREDEF_CLASS (ReedsShepp);
252  typedef shared_ptr <ReedsShepp> ReedsSheppPtr_t;
253  } // namespace distance
254 
257  namespace nearestNeighbor {
258  class Basic;
259  class KDTree;
260  typedef KDTree* KDTreePtr_t;
261  typedef Basic* BasicPtr_t;
262  } // namespace nearestNeighbor
263 
264  namespace pathOptimization {
266  typedef shared_ptr <RandomShortcut> RandomShortcutPtr_t;
268  typedef shared_ptr <SimpleShortcut> SimpleShortcutPtr_t;
270  typedef shared_ptr <Cost> CostPtr_t;
272  typedef shared_ptr <GradientBased> GradientBasedPtr_t;
273  HPP_PREDEF_CLASS (PathLength);
274  typedef shared_ptr <PathLength> PathLengthPtr_t;
276  typedef shared_ptr <PartialShortcut> PartialShortcutPtr_t;
278  typedef shared_ptr <SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
280  typedef shared_ptr <ConfigOptimization>
282  } // namespace pathOptimization
283 
284  namespace pathPlanner {
286  typedef shared_ptr <kPrmStar> kPrmStarPtr_t;
287  } // namespace pathPlanner
288 
291  typedef shared_ptr <PathValidation> PathValidationPtr_t;
292  typedef shared_ptr <PathValidations> PathValidationsPtr_t;
293  namespace pathValidation {
295  typedef shared_ptr <Discretized> DiscretizedPtr_t;
296  } // namespace pathValidation
297  // Path validation reports
298  struct PathValidationReport;
300  typedef shared_ptr <PathValidationReport> PathValidationReportPtr_t;
301  typedef shared_ptr <CollisionPathValidationReport>
303  typedef std::vector <CollisionPathValidationReport>
305 
307  typedef shared_ptr <PathProjector> PathProjectorPtr_t;
308  namespace pathProjector {
310  typedef shared_ptr <Global> GlobalPtr_t;
312  typedef shared_ptr <Dichotomy> DichotomyPtr_t;
314  typedef shared_ptr <Progressive> ProgressivePtr_t;
316  typedef shared_ptr <RecursiveHermite> RecursiveHermitePtr_t;
317  } // namespace pathProjector
318 
319  namespace steeringMethod {
321  typedef shared_ptr <Interpolated> InterpolatedPtr_t;
323  typedef shared_ptr <ReedsShepp> ReedsSheppPtr_t;
325  typedef shared_ptr <Kinodynamic> KinodynamicPtr_t;
326  } // namespace steeringMethod
327 
328  namespace problemTarget {
331  typedef shared_ptr <GoalConfigurations> GoalConfigurationsPtr_t;
332  typedef shared_ptr <TaskTarget> TaskTargetPtr_t;
333  } // namespace problemTarget
334 
335  namespace configurationShooter {
336  HPP_PREDEF_CLASS (Uniform);
337  typedef shared_ptr < Uniform > UniformPtr_t;
339  typedef shared_ptr < Gaussian > GaussianPtr_t;
340  } // namespace configurationShooter
341 
347 
348  namespace continuousCollisionChecking = continuousValidation;
349 
350  } // namespace core
351 } // namespace hpp
352 
353 #endif // HPP_CORE_FWD_HH
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:172
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:144
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:241
Node * NodePtr_t
Definition: fwd.hh:163
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:142
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:314
const FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:93
Definition: interpolated-steering-method.hh:34
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:189
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:278
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:310
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:146
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:117
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:186
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:178
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
Definition: problem-solver.hh:69
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:233
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:138
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:193
Definition: dichotomy.hh:27
constraints::ComparisonType ComparisonType
Definition: fwd.hh:79
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:208
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: bi-rrt-planner.hh:24
constraints::segment_t segment_t
Definition: fwd.hh:161
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:128
HPP_PREDEF_CLASS(BiRRTPlanner)
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:76
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:143
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:160
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:124
Definition: edge.hh:35
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:270
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:331
hpp::pinocchio::Body Body
Definition: fwd.hh:82
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:168
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:115
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:266
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:135
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:213
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:281
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:206
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
Definition: continuous-validation.hh:86
pinocchio::size_type size_type
Definition: fwd.hh:156
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:244
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:302
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:102
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:212
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:295
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:174
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:89
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:120
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:183
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:132
Definition: goal-configurations.hh:36
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:196
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:86
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
This class projects a path using constraints.
Definition: path-projector.hh:26
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:221
Definition: steering-kinodynamic.hh:44
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:228
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:130
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:197
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:118
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:116
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:105
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:274
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:112
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:151
Definition: gradient-based.hh:35
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:312
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:28
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:209
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:316
Definition: collision-pair.hh:34
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:88
Definition: cost.hh:33
HPP_PREDEF_CLASS(Hermite)
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:332
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:139
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:307
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:177
Basic * BasicPtr_t
Definition: fwd.hh:261
Definition: simple-time-parameterization.hh:175
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:304
Edge * EdgePtr_t
Definition: fwd.hh:126
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:325
Definition: interval-validation.hh:57
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:214
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:321
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:207
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:345
std::set< ConnectedComponentPtr_t > ConnectedComponents_t
Definition: fwd.hh:108
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
Definition: node.hh:35
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:155
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:181
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:153
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:101
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:106
Definition: config-optimization.hh:59
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:137
Definition: path-validations.hh:33
Definition: recursive-hermite.hh:30
Definition: path-validation.hh:35
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:107
Definition: task-target.hh:39
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:286
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:246
Definition: global.hh:30
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:292
Path validation report used for standard collision checking.
Definition: collision-path-validation-report.hh:31
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:276
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:125
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
pinocchio::value_type value_type
Definition: fwd.hh:157
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:91
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:111
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:346
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:323
pinocchio::Device Device_t
Definition: fwd.hh:113
pinocchio::Joint Joint
Definition: fwd.hh:131
pinocchio::Transform3f Transform3f
Definition: fwd.hh:199
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:255
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:194
constraints::matrix6_t matrix6_t
Definition: fwd.hh:147
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:173
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:268
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:84
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
shared_ptr< Gaussian > GaussianPtr_t
Definition: fwd.hh:339
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:100
Definition: partial-shortcut.hh:56
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:99
Definition: simple-shortcut.hh:37
Definition: random-shortcut.hh:38
Definition: body-pair-collision.hh:52
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:185
Definition: path-validation-report.hh:34
CollisionPair CollisionPair_t
Definition: fwd.hh:219
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:165
constraints::Shape_t Shape_t
Definition: fwd.hh:344
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:81
Definition: discretized.hh:35
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:192
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:94
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:216
Definition: hermite.hh:31
std::list< Edge * > Edges_t
Definition: fwd.hh:127
Definition: fwd.hh:225
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:191
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:337
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:166
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:179
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:240
Definition: solid-solid-collision.hh:47
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:201
constraints::segments_t segments_t
Definition: fwd.hh:162
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:184
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:121
pinocchio::vector3_t vector3_t
Definition: fwd.hh:148
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:175
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
Definition: reeds-shepp.hh:37
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:190
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:272
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:243
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:188
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:152
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:187
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:154
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:211
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:129
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:227
KDTree * KDTreePtr_t
Definition: fwd.hh:140
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
Definition: k-prm-star.hh:29
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:92
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:205
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:83
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:171
Definition: progressive.hh:25
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:291
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:167
constraints::LockedJoint LockedJoint
Definition: fwd.hh:141