hpp-core
4.15.1
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_FWD_HH
31 #define HPP_CORE_FWD_HH
34 #include <hpp/constraints/fwd.hh>
37 #include <hpp/util/pointer.hh>
63 struct JointBoundValidationReport;
96 typedef shared_ptr<AllCollisionsValidationReport>
120 template <
typename T>
122 const std::shared_ptr<T>& rhs)
const {
123 return (*lhs) < (*rhs);
126 typedef std::set<ConnectedComponentPtr_t, SharedComparator>
209 typedef shared_ptr<const KinodynamicOrientedPath>
228 typedef std::map<std::string, constraints::ImplicitPtr_t>
233 typedef std::map<std::string, CenterOfMassComputationPtr_t>
243 template <
int _PolynomeBasis,
int _Order>
252 namespace continuousValidation {
274 namespace nearestNeighbor {
281 namespace pathOptimization {
300 namespace pathPlanner {
309 namespace pathValidation {
317 typedef shared_ptr<CollisionPathValidationReport>
319 typedef std::vector<CollisionPathValidationReport>
324 namespace pathProjector {
335 namespace steeringMethod {
344 namespace problemTarget {
351 namespace configurationShooter {
364 namespace continuousCollisionChecking = continuousValidation;
369 #endif // HPP_CORE_FWD_HH
Definition: simple-time-parameterization.hh:185
Definition: hermite.hh:42
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:308
pinocchio::size_type size_type
Definition: fwd.hh:173
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:287
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:211
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:188
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:143
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:283
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:192
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:163
bool operator()(const std::shared_ptr< T > &lhs, const std::shared_ptr< T > &rhs) const
Definition: fwd.hh:121
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:261
Definition: gaussian.hh:45
Definition: body-pair-collision.hh:62
Definition: progressive.hh:37
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:272
Definition: interpolated-steering-method.hh:45
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
HPP_PREDEF_CLASS(Discretized)
const typedef FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:103
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:114
Definition: collision-pair.hh:45
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:161
HPP_PREDEF_CLASS(ReedsShepp)
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
HPP_PREDEF_CLASS(GoalConfigurations)
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:219
HPP_PREDEF_CLASS(BiRRTPlanner)
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition: fwd.hh:127
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:208
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:172
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:227
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:101
Definition: continuous-validation.hh:96
CollisionPair CollisionPair_t
Definition: fwd.hh:237
Node * NodePtr_t
Definition: fwd.hh:180
pinocchio::vector_t vector_t
Definition: fwd.hh:220
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:337
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:154
pinocchio::Device Device_t
Definition: fwd.hh:133
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:109
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:107
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:182
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:251
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:190
shared_ptr< Gaussian > GaussianPtr_t
Definition: fwd.hh:355
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:229
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:185
constraints::LockedJoint LockedJoint
Definition: fwd.hh:158
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:212
KDTree * KDTreePtr_t
Definition: fwd.hh:276
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:224
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:256
Definition: path-validation.hh:51
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:222
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:112
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:320
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:170
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:347
Basic * BasicPtr_t
Definition: fwd.hh:278
constraints::Shape_t Shape_t
Definition: fwd.hh:360
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
Definition: interval-validation.hh:67
pinocchio::vector3_t vector3_t
Definition: fwd.hh:165
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:207
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:148
Definition: discretized.hh:46
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:311
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:348
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:156
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:116
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:142
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:108
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:234
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:341
constraints::matrix6_t matrix6_t
Definition: fwd.hh:164
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:247
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:264
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:117
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:215
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:139
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:315
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
Definition: random-shortcut.hh:49
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:297
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:291
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:194
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:95
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:254
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:131
HPP_PREDEF_CLASS(Hermite)
pinocchio::Transform3f Transform3f
Definition: fwd.hh:217
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:115
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:323
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:353
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:135
HPP_PREDEF_CLASS(RandomShortcut)
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:230
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:200
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:262
KDTree * KDTreePtr_t
Definition: fwd.hh:157
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:167
Definition: recursive-hermite.hh:42
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:239
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:210
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:171
HPP_PREDEF_CLASS(kPrmStar)
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:91
Definition: bi-rrt-planner.hh:35
constraints::ComparisonType ComparisonType
Definition: fwd.hh:89
std::list< Edge * > Edges_t
Definition: fwd.hh:145
Path validation report used for standard collision checking.
Definition: collision-path-validation-report.hh:42
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:307
Definition: gradient-based.hh:45
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:196
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:195
Definition: k-prm-star.hh:40
HPP_PREDEF_CLASS(Interpolated)
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:206
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:318
Definition: task-target.hh:50
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:232
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:111
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:258
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:231
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:146
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:214
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:159
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:221
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:153
Definition: goal-configurations.hh:46
Definition: solid-solid-collision.hh:55
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:204
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:285
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:136
Definition: steering-kinodynamic.hh:56
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:189
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:326
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:225
HPP_PREDEF_CLASS(Uniform)
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:137
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:166
Definition: progressive.hh:54
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:147
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:330
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:168
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:177
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:86
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:155
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:94
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:289
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:198
constraints::segment_t segment_t
Definition: fwd.hh:178
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:328
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:202
HPP_PREDEF_CLASS(Dichotomy)
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:339
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:332
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:293
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:191
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:269
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:246
Definition: reeds-shepp.hh:47
hpp::pinocchio::Body Body
Definition: fwd.hh:92
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:302
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:183
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:201
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:160
constraints::segments_t segments_t
Definition: fwd.hh:179
Definition: path-validation-report.hh:45
Definition: path-validations.hh:44
Definition: simple-shortcut.hh:48
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:102
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:140
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:129
Edge * EdgePtr_t
Definition: fwd.hh:144
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:259
Definition: dichotomy.hh:39
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:150
Definition: problem-solver.hh:78
pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t
Definition: fwd.hh:100
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:223
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:138
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:362
pinocchio::Joint Joint
Definition: fwd.hh:149
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:205
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:361
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:169
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
Definition: partial-shortcut.hh:63
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:104
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:132
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:226
This class projects a path using constraints.
Definition: path-projector.hh:38
Definition: config-optimization.hh:71
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:97
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:93
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:110
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:203
pinocchio::value_type value_type
Definition: fwd.hh:174
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:295