hpp-core
4.11.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_FWD_HH
20 # define HPP_CORE_FWD_HH
28 # include <hpp/util/pointer.hh>
29 # include <hpp/constraints/fwd.hh>
53 struct JointBoundValidationReport;
85 typedef shared_ptr <CollisionValidationReport>
87 typedef shared_ptr <AllCollisionsValidationReport>
123 typedef shared_ptr <DistanceBetweenObjects>
136 typedef shared_ptr <JointBoundValidationReport>
210 typedef std::map <std::string, constraints::ImplicitPtr_t>
215 typedef std::map <std::string, CenterOfMassComputationPtr_t>
225 template <
int _PolynomeBasis,
int _Order>
class Spline;
232 typedef shared_ptr <ContinuousValidation>
234 namespace continuousValidation {
257 namespace nearestNeighbor {
264 namespace pathOptimization {
280 typedef shared_ptr <ConfigOptimization>
284 namespace pathPlanner {
293 namespace pathValidation {
301 typedef shared_ptr <CollisionPathValidationReport>
303 typedef std::vector <CollisionPathValidationReport>
308 namespace pathProjector {
319 namespace steeringMethod {
328 namespace problemTarget {
335 namespace configurationShooter {
348 namespace continuousCollisionChecking = continuousValidation;
353 #endif // HPP_CORE_FWD_HH
Definition: simple-time-parameterization.hh:175
Definition: hermite.hh:31
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:292
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:270
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:193
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:171
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:125
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:266
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:175
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:146
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:243
Definition: gaussian.hh:36
Definition: body-pair-collision.hh:52
Definition: progressive.hh:25
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:255
Definition: interpolated-steering-method.hh:34
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:167
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
HPP_PREDEF_CLASS(Discretized)
const typedef FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:93
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
Definition: collision-pair.hh:34
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:144
HPP_PREDEF_CLASS(ReedsShepp)
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:28
HPP_PREDEF_CLASS(GoalConfigurations)
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:164
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:201
HPP_PREDEF_CLASS(BiRRTPlanner)
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:191
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:155
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:209
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:91
Definition: continuous-validation.hh:86
CollisionPair CollisionPair_t
Definition: fwd.hh:219
Node * NodePtr_t
Definition: fwd.hh:163
pinocchio::vector_t vector_t
Definition: fwd.hh:202
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:321
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:137
pinocchio::Device Device_t
Definition: fwd.hh:113
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:99
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:122
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:165
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:233
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:173
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:211
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:168
constraints::LockedJoint LockedJoint
Definition: fwd.hh:141
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:194
KDTree * KDTreePtr_t
Definition: fwd.hh:259
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:206
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:238
Definition: path-validation.hh:35
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:102
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:304
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:153
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:331
Basic * BasicPtr_t
Definition: fwd.hh:261
constraints::Shape_t Shape_t
Definition: fwd.hh:344
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:89
Definition: interval-validation.hh:57
pinocchio::vector3_t vector3_t
Definition: fwd.hh:148
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:190
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:130
Definition: discretized.hh:35
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:295
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:332
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:139
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:106
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:124
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:216
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:325
constraints::matrix6_t matrix6_t
Definition: fwd.hh:147
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:228
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:246
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:107
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:197
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:120
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: random-shortcut.hh:38
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:281
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:274
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:177
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:86
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:236
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:111
HPP_PREDEF_CLASS(Hermite)
pinocchio::Transform3f Transform3f
Definition: fwd.hh:199
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:105
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:307
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:115
std::set< ConnectedComponentPtr_t > ConnectedComponents_t
Definition: fwd.hh:108
HPP_PREDEF_CLASS(RandomShortcut)
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:212
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:183
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:244
KDTree * KDTreePtr_t
Definition: fwd.hh:140
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
Definition: recursive-hermite.hh:30
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:182
shared_ptr< Gaussian > GaussianPtr_t
Definition: fwd.hh:339
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:221
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:192
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:154
HPP_PREDEF_CLASS(kPrmStar)
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:81
Definition: bi-rrt-planner.hh:24
constraints::ComparisonType ComparisonType
Definition: fwd.hh:79
std::list< Edge * > Edges_t
Definition: fwd.hh:127
Path validation report used for standard collision checking.
Definition: collision-path-validation-report.hh:31
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:291
Definition: gradient-based.hh:35
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:179
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:178
Definition: k-prm-star.hh:29
HPP_PREDEF_CLASS(Interpolated)
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:189
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:302
Definition: task-target.hh:39
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:214
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:101
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:240
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:213
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:128
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:196
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:142
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:135
Definition: goal-configurations.hh:36
Definition: solid-solid-collision.hh:47
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:187
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:268
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:116
Definition: steering-kinodynamic.hh:44
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:172
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:310
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:207
HPP_PREDEF_CLASS(Uniform)
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:117
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
Definition: progressive.hh:43
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:129
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:314
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:151
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:160
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:76
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:138
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:84
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:272
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:181
constraints::segment_t segment_t
Definition: fwd.hh:161
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:312
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:185
HPP_PREDEF_CLASS(Dichotomy)
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:323
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:316
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:276
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:174
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:252
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:227
Definition: reeds-shepp.hh:37
hpp::pinocchio::Body Body
Definition: fwd.hh:82
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:286
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:166
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:184
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:143
constraints::segments_t segments_t
Definition: fwd.hh:162
Definition: path-validation-report.hh:34
Definition: path-validations.hh:33
Definition: simple-shortcut.hh:37
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:92
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:121
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
Edge * EdgePtr_t
Definition: fwd.hh:126
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:241
Definition: dichotomy.hh:27
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:132
Definition: problem-solver.hh:69
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:205
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:118
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:346
pinocchio::Joint Joint
Definition: fwd.hh:131
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:188
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:345
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:195
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:152
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:103
Definition: partial-shortcut.hh:56
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:94
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:112
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:208
This class projects a path using constraints.
Definition: path-projector.hh:26
Definition: config-optimization.hh:59
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:88
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:83
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:100
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:186
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:337
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:278