hpp-manipulation  4.11.0
Classes for manipulation planning.
fwd.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux, Joseph Mirabel
4 //
5 //
6 // This file is part of hpp-manipulation.
7 // hpp-manipulation is free software: you can redistribute it
8 // and/or modify it under the terms of the GNU Lesser General Public
9 // License as published by the Free Software Foundation, either version
10 // 3 of the License, or (at your option) any later version.
11 //
12 // hpp-manipulation is distributed in the hope that it will be
13 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
14 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Lesser Public License for more details. You should have
16 // received a copy of the GNU Lesser General Public License along with
17 // hpp-manipulation. If not, see
18 // <http://www.gnu.org/licenses/>.
19 
20 #ifndef HPP_MANIPULATION_FWD_HH
21 # define HPP_MANIPULATION_FWD_HH
22 
23 # include <map>
24 # include <hpp/core/fwd.hh>
25 
26 namespace hpp {
27  namespace manipulation {
28  HPP_PREDEF_CLASS (Device);
29  typedef shared_ptr <Device> DevicePtr_t;
30  typedef shared_ptr <const Device> DeviceConstPtr_t;
34  typedef std::vector<JointIndex> JointIndices_t;
36  typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
45  HPP_PREDEF_CLASS (AxialHandle);
46  typedef shared_ptr <AxialHandle> AxialHandlePtr_t;
48  typedef shared_ptr <Handle> HandlePtr_t;
49  HPP_PREDEF_CLASS (Object);
50  typedef shared_ptr <Object> ObjectPtr_t;
51  typedef shared_ptr <const Object> ObjectConstPtr_t;
55  typedef shared_ptr <Problem> ProblemPtr_t;
56  typedef shared_ptr <const Problem> ProblemConstPtr_t;
58  typedef shared_ptr <Roadmap> RoadmapPtr_t;
61  typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
63  typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
65  typedef shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
66  typedef shared_ptr<const LeafConnectedComp>
68  typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
70  typedef shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
72  typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
89  typedef shared_ptr < ManipulationPlanner > ManipulationPlannerPtr_t;
91  typedef shared_ptr < GraphPathValidation > GraphPathValidationPtr_t;
93  typedef shared_ptr < SteeringMethod > SteeringMethodPtr_t;
97  typedef shared_ptr < GraphOptimizer > GraphOptimizerPtr_t;
99  typedef shared_ptr < GraphNodeOptimizer > GraphNodeOptimizerPtr_t;
101 
102  typedef std::vector <pinocchio::DevicePtr_t> Devices_t;
103  typedef std::vector <ObjectPtr_t> Objects_t;
115  typedef shared_ptr <ConstraintSet> ConstraintSetPtr_t;
126  typedef core::size_type size_type;
130 
134 
135  typedef std::list <std::string> StringList_t;
136 
137  namespace pathOptimization {
138  HPP_PREDEF_CLASS (SmallSteps);
139  typedef shared_ptr < SmallSteps > SmallStepsPtr_t;
140  HPP_PREDEF_CLASS (Keypoints);
141  typedef shared_ptr < Keypoints > KeypointsPtr_t;
142  } // namespace pathOptimization
143 
144  namespace problemTarget {
146  typedef shared_ptr < State > StatePtr_t;
147  } // namespace problemTarget
148  } // namespace manipulation
149 } // namespace hpp
150 
151 #endif // HPP_MANIPULATION_FWD_HH
HPP_PREDEF_CLASS(Device)
Definition: graph-optimizer.hh:43
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:43
constraints::RelativeOrientation RelativeOrientation
Definition: fwd.hh:73
constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t
Definition: fwd.hh:81
core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: fwd.hh:118
core::ConfigProjector ConfigProjector
Definition: fwd.hh:112
Definition: connected-component.hh:32
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:93
core::Shape_t Shape_t
Definition: fwd.hh:131
Definition: graph-path-validation.hh:46
core::vector3_t vector3_t
Definition: fwd.hh:128
shared_ptr< Keypoints > KeypointsPtr_t
Definition: fwd.hh:141
Definition: main.hh:1
hpp::core::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:111
constraints::ExplicitPtr_t ExplicitPtr_t
Definition: fwd.hh:107
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:58
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
core::vectorIn_t vectorIn_t
Definition: fwd.hh:86
shared_ptr< GraphPathValidation > GraphPathValidationPtr_t
Definition: fwd.hh:91
core::vector_t vector_t
Definition: fwd.hh:85
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:63
core::ValidationReport ValidationReport
Definition: fwd.hh:119
core::PathValidationReportPtr_t PathValidationReportPtr_t
Definition: fwd.hh:122
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:37
shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:70
Definition: graph-node-optimizer.hh:46
Part of an object that is aimed at being grasped.
Definition: handle.hh:32
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:32
shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition: fwd.hh:99
Definition: leaf-connected-comp.hh:34
Definition: manipulation-planner.hh:36
core::JointAndShape_t JointAndShape_t
Definition: fwd.hh:132
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:56
Definition: problem.hh:32
shared_ptr< GraphOptimizer > GraphOptimizerPtr_t
Definition: fwd.hh:97
a core::ConstraintSet remembering which edge created it
Definition: constraint-set.hh:33
core::value_type value_type
Definition: fwd.hh:82
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:36
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:105
shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:139
Class for distance between configurations.
Definition: weighed-distance.hh:33
shared_ptr< ManipulationPlanner > ManipulationPlannerPtr_t
Definition: fwd.hh:89
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:65
core::matrixIn_t matrixIn_t
Definition: fwd.hh:124
constraints::LockedJoint LockedJoint
Definition: fwd.hh:109
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:113
shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:48
shared_ptr< AxialHandle > AxialHandlePtr_t
Definition: fwd.hh:46
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:53
core::ConfigurationShooter ConfigurationShooter
Definition: fwd.hh:117
shared_ptr< Object > ObjectPtr_t
Definition: fwd.hh:50
constraints::RelativePositionPtr_t RelativePositionPtr_t
Definition: fwd.hh:76
std::vector< ObjectPtr_t > Objects_t
Definition: fwd.hh:103
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:110
std::vector< pinocchio::DevicePtr_t > Devices_t
Definition: fwd.hh:102
RoadmapNode * RoadmapNodePtr_t
Definition: fwd.hh:60
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:115
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: fwd.hh:100
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:72
constraints::RelativePosition RelativePosition
Definition: fwd.hh:74
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:108
pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:35
constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3
Definition: fwd.hh:79
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
Definition: roadmap.hh:35
pinocchio::Joint Joint
Definition: fwd.hh:31
pinocchio::JointIndex JointIndex
Definition: fwd.hh:33
core::Constraint Constraint
Definition: fwd.hh:104
core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:120
shared_ptr< State > StatePtr_t
Definition: fwd.hh:36
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:95
core::matrix_t matrix_t
Definition: fwd.hh:123
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:121
core::matrix3_t matrix3_t
Definition: fwd.hh:129
std::vector< JointIndex > JointIndices_t
Definition: fwd.hh:34
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:39
std::list< std::string > StringList_t
Definition: fwd.hh:135
core::size_type size_type
Definition: fwd.hh:83
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
core::Transform3f Transform3f
Definition: fwd.hh:84
shared_ptr< const Object > ObjectConstPtr_t
Definition: fwd.hh:51
std::set< LeafConnectedCompPtr_t > LeafConnectedComps_t
Definition: fwd.hh:68
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:61
constraints::Explicit Explicit
Definition: fwd.hh:106
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:30
shared_ptr< const LeafConnectedComp > LeafConnectedCompConstPtr_t
Definition: fwd.hh:67
Definition: graph.hh:33
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:42
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:116
Definition: leaf-connected-comp.hh:116
core::PathOptimizer PathOptimizer
Definition: fwd.hh:94
constraints::RelativeTransformation RelativeTransformation
Definition: fwd.hh:77
core::matrixOut_t matrixOut_t
Definition: fwd.hh:125
Definition: problem-solver.hh:33
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:41
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:44
core::vectorOut_t vectorOut_t
Definition: fwd.hh:87
Definition: roadmap-node.hh:32
core::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:133
constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t
Definition: fwd.hh:75
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:40