hpp-core  4.15.1
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
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5 
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29 
30 #ifndef HPP_CORE_FWD_HH
31 #define HPP_CORE_FWD_HH
32 
33 #include <deque>
34 #include <hpp/constraints/fwd.hh>
35 #include <hpp/core/config.hh>
36 #include <hpp/core/deprecated.hh>
37 #include <hpp/util/pointer.hh>
38 #include <list>
39 #include <map>
40 #include <set>
41 #include <vector>
42 
43 namespace hpp {
44 namespace core {
45 HPP_PREDEF_CLASS(BiRRTPlanner);
46 HPP_PREDEF_CLASS(CollisionValidation);
47 HPP_PREDEF_CLASS(CollisionValidationReport);
48 HPP_PREDEF_CLASS(AllCollisionsValidationReport);
49 HPP_PREDEF_CLASS(ConfigurationShooter);
50 HPP_PREDEF_CLASS(ConfigProjector);
51 HPP_PREDEF_CLASS(ConfigValidation);
52 HPP_PREDEF_CLASS(ConfigValidations);
53 HPP_PREDEF_CLASS(ConnectedComponent);
54 HPP_PREDEF_CLASS(Constraint);
55 HPP_PREDEF_CLASS(ConstraintSet);
56 HPP_PREDEF_CLASS(DiffusingPlanner);
57 HPP_PREDEF_CLASS(Distance);
58 HPP_PREDEF_CLASS(DistanceBetweenObjects);
59 class Edge;
60 HPP_PREDEF_CLASS(ExtractedPath);
61 HPP_PREDEF_CLASS(SubchainPath);
62 HPP_PREDEF_CLASS(JointBoundValidation);
63 struct JointBoundValidationReport;
64 class Node;
65 HPP_PREDEF_CLASS(Path);
66 HPP_PREDEF_CLASS(TimeParameterization);
67 HPP_PREDEF_CLASS(PathOptimizer);
68 HPP_PREDEF_CLASS(PathPlanner);
69 HPP_PREDEF_CLASS(ProblemTarget);
70 HPP_PREDEF_CLASS(PathVector);
71 HPP_PREDEF_CLASS(PlanAndOptimize);
72 HPP_PREDEF_CLASS(Problem);
73 class ProblemSolver;
74 HPP_PREDEF_CLASS(Roadmap);
75 HPP_PREDEF_CLASS(SteeringMethod);
76 HPP_PREDEF_CLASS(StraightPath);
77 HPP_PREDEF_CLASS(InterpolatedPath);
78 HPP_PREDEF_CLASS(DubinsPath);
79 HPP_PREDEF_CLASS(ReedsSheppPath);
80 HPP_PREDEF_CLASS(KinodynamicPath);
81 HPP_PREDEF_CLASS(KinodynamicOrientedPath);
82 HPP_PREDEF_CLASS(ValidationReport);
83 HPP_PREDEF_CLASS(VisibilityPrmPlanner);
84 HPP_PREDEF_CLASS(WeighedDistance);
85 HPP_PREDEF_CLASS(KinodynamicDistance);
86 class KDTree;
87 
90 
91 typedef shared_ptr<BiRRTPlanner> BiRRTPlannerPtr_t;
94 typedef shared_ptr<CollisionValidation> CollisionValidationPtr_t;
95 typedef shared_ptr<CollisionValidationReport> CollisionValidationReportPtr_t;
96 typedef shared_ptr<AllCollisionsValidationReport>
104 typedef shared_ptr<FclCollisionObject> FclCollisionObjectSharePtr_t;
105 
110 typedef std::vector<ConfigurationPtr_t> Configurations_t;
111 typedef Configurations_t::iterator ConfigIterator_t;
112 typedef Configurations_t::const_iterator ConfigConstIterator_t;
113 typedef shared_ptr<ConfigurationShooter> ConfigurationShooterPtr_t;
114 typedef shared_ptr<ConfigProjector> ConfigProjectorPtr_t;
115 typedef shared_ptr<ConfigValidation> ConfigValidationPtr_t;
116 typedef shared_ptr<ConfigValidations> ConfigValidationsPtr_t;
117 typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
118 
120  template <typename T>
121  bool operator()(const std::shared_ptr<T>& lhs,
122  const std::shared_ptr<T>& rhs) const {
123  return (*lhs) < (*rhs);
124  }
125 };
126 typedef std::set<ConnectedComponentPtr_t, SharedComparator>
128 
129 typedef shared_ptr<Constraint> ConstraintPtr_t;
130 typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
131 typedef shared_ptr<const ConstraintSet> ConstraintSetConstPtr_t;
132 typedef std::vector<ConstraintPtr_t> Constraints_t;
133 typedef pinocchio::Device Device_t;
137 typedef std::deque<DevicePtr_t> Devices_t;
140 typedef shared_ptr<DiffusingPlanner> DiffusingPlannerPtr_t;
141 typedef shared_ptr<Distance> DistancePtr_t;
142 typedef shared_ptr<DistanceBetweenObjects> DistanceBetweenObjectsPtr_t;
144 typedef Edge* EdgePtr_t;
145 typedef std::list<Edge*> Edges_t;
146 typedef shared_ptr<ExtractedPath> ExtractedPathPtr_t;
147 typedef shared_ptr<SubchainPath> SubchainPathPtr_t;
153 typedef shared_ptr<JointBoundValidation> JointBoundValidationPtr_t;
154 typedef shared_ptr<JointBoundValidationReport> JointBoundValidationReportPtr_t;
157 typedef KDTree* KDTreePtr_t;
175 typedef std::pair<value_type, value_type> interval_t;
180 typedef Node* NodePtr_t;
181 typedef std::list<NodePtr_t> Nodes_t;
182 typedef std::vector<NodePtr_t> NodeVector_t;
184 typedef std::vector<CollisionObjectPtr_t> ObjectStdVector_t;
185 typedef std::vector<CollisionObjectConstPtr_t> ConstObjectStdVector_t;
186 
187 typedef shared_ptr<Path> PathPtr_t;
188 typedef shared_ptr<const Path> PathConstPtr_t;
189 typedef shared_ptr<TimeParameterization> TimeParameterizationPtr_t;
190 typedef shared_ptr<PathOptimizer> PathOptimizerPtr_t;
191 typedef shared_ptr<PathPlanner> PathPlannerPtr_t;
192 typedef shared_ptr<ProblemTarget> ProblemTargetPtr_t;
193 typedef shared_ptr<PathVector> PathVectorPtr_t;
194 typedef shared_ptr<const PathVector> PathVectorConstPtr_t;
195 typedef shared_ptr<PlanAndOptimize> PlanAndOptimizePtr_t;
196 typedef shared_ptr<Problem> ProblemPtr_t;
197 typedef shared_ptr<const Problem> ProblemConstPtr_t;
199 typedef shared_ptr<Roadmap> RoadmapPtr_t;
200 typedef shared_ptr<StraightPath> StraightPathPtr_t;
201 typedef shared_ptr<const StraightPath> StraightPathConstPtr_t;
202 typedef shared_ptr<ReedsSheppPath> ReedsSheppPathPtr_t;
203 typedef shared_ptr<const ReedsSheppPath> ReedsSheppPathConstPtr_t;
204 typedef shared_ptr<DubinsPath> DubinsPathPtr_t;
205 typedef shared_ptr<const DubinsPath> DubinsPathConstPtr_t;
206 typedef shared_ptr<KinodynamicPath> KinodynamicPathPtr_t;
207 typedef shared_ptr<const KinodynamicPath> KinodynamicPathConstPtr_t;
208 typedef shared_ptr<KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t;
209 typedef shared_ptr<const KinodynamicOrientedPath>
211 typedef shared_ptr<InterpolatedPath> InterpolatedPathPtr_t;
212 typedef shared_ptr<const InterpolatedPath> InterpolatedPathConstPtr_t;
213 typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
214 typedef std::vector<PathPtr_t> Paths_t;
215 typedef std::vector<PathVectorPtr_t> PathVectors_t;
216 typedef std::vector<PathVectorPtr_t> PathVectors_t;
219 typedef Eigen::Matrix<value_type, 2, 1> vector2_t;
223 typedef Eigen::Matrix<value_type, 1, Eigen::Dynamic> rowvector_t;
224 typedef shared_ptr<VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t;
225 typedef shared_ptr<ValidationReport> ValidationReportPtr_t;
226 typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
227 typedef shared_ptr<KinodynamicDistance> KinodynamicDistancePtr_t;
228 typedef std::map<std::string, constraints::ImplicitPtr_t>
230 typedef std::map<std::string, ComparisonTypes_t> ComparisonTypeMap_t;
231 typedef std::map<std::string, segments_t> segmentsMap_t;
233 typedef std::map<std::string, CenterOfMassComputationPtr_t>
235 
236 // Collision pairs
238 typedef CollisionPair CollisionPair_t; // For backward compatibility.
239 typedef std::vector<CollisionPair_t> CollisionPairs_t;
240 
241 class ExtractedPath;
242 namespace path {
243 template <int _PolynomeBasis, int _Order>
244 class Spline;
246 typedef shared_ptr<Hermite> HermitePtr_t;
247 typedef shared_ptr<const Hermite> HermiteConstPtr_t;
248 } // namespace path
249 
251 typedef shared_ptr<ContinuousValidation> ContinuousValidationPtr_t;
252 namespace continuousValidation {
253 HPP_PREDEF_CLASS(Dichotomy);
254 typedef shared_ptr<Dichotomy> DichotomyPtr_t;
256 typedef shared_ptr<Progressive> ProgressivePtr_t;
258 typedef shared_ptr<BodyPairCollision> BodyPairCollisionPtr_t;
259 typedef std::vector<BodyPairCollisionPtr_t> BodyPairCollisions_t;
261 typedef shared_ptr<IntervalValidation> IntervalValidationPtr_t;
262 typedef std::vector<IntervalValidationPtr_t> IntervalValidations_t;
264 typedef shared_ptr<SolidSolidCollision> SolidSolidCollisionPtr_t;
265 } // namespace continuousValidation
266 
267 namespace distance {
268 HPP_PREDEF_CLASS(ReedsShepp);
269 typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
270 } // namespace distance
271 
274 namespace nearestNeighbor {
275 class Basic;
276 class KDTree;
277 typedef KDTree* KDTreePtr_t;
278 typedef Basic* BasicPtr_t;
279 } // namespace nearestNeighbor
280 
281 namespace pathOptimization {
283 typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
285 typedef shared_ptr<SimpleShortcut> SimpleShortcutPtr_t;
287 typedef shared_ptr<Cost> CostPtr_t;
289 typedef shared_ptr<GradientBased> GradientBasedPtr_t;
290 HPP_PREDEF_CLASS(PathLength);
291 typedef shared_ptr<PathLength> PathLengthPtr_t;
293 typedef shared_ptr<PartialShortcut> PartialShortcutPtr_t;
295 typedef shared_ptr<SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
297 typedef shared_ptr<ConfigOptimization> ConfigOptimizationPtr_t;
298 } // namespace pathOptimization
299 
300 namespace pathPlanner {
302 typedef shared_ptr<kPrmStar> kPrmStarPtr_t;
303 } // namespace pathPlanner
304 
307 typedef shared_ptr<PathValidation> PathValidationPtr_t;
308 typedef shared_ptr<PathValidations> PathValidationsPtr_t;
309 namespace pathValidation {
311 typedef shared_ptr<Discretized> DiscretizedPtr_t;
312 } // namespace pathValidation
313 // Path validation reports
314 struct PathValidationReport;
316 typedef shared_ptr<PathValidationReport> PathValidationReportPtr_t;
317 typedef shared_ptr<CollisionPathValidationReport>
319 typedef std::vector<CollisionPathValidationReport>
321 
323 typedef shared_ptr<PathProjector> PathProjectorPtr_t;
324 namespace pathProjector {
326 typedef shared_ptr<Global> GlobalPtr_t;
328 typedef shared_ptr<Dichotomy> DichotomyPtr_t;
330 typedef shared_ptr<Progressive> ProgressivePtr_t;
332 typedef shared_ptr<RecursiveHermite> RecursiveHermitePtr_t;
333 } // namespace pathProjector
334 
335 namespace steeringMethod {
337 typedef shared_ptr<Interpolated> InterpolatedPtr_t;
339 typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
341 typedef shared_ptr<Kinodynamic> KinodynamicPtr_t;
342 } // namespace steeringMethod
343 
344 namespace problemTarget {
347 typedef shared_ptr<GoalConfigurations> GoalConfigurationsPtr_t;
348 typedef shared_ptr<TaskTarget> TaskTargetPtr_t;
349 } // namespace problemTarget
350 
351 namespace configurationShooter {
352 HPP_PREDEF_CLASS(Uniform);
353 typedef shared_ptr<Uniform> UniformPtr_t;
355 typedef shared_ptr<Gaussian> GaussianPtr_t;
356 } // namespace configurationShooter
357 
363 
364 namespace continuousCollisionChecking = continuousValidation;
365 
366 } // namespace core
367 } // namespace hpp
368 
369 #endif // HPP_CORE_FWD_HH
hpp::core::pathOptimization::SimpleTimeParameterization
Definition: simple-time-parameterization.hh:185
hpp::core::path::Hermite
Definition: hermite.hh:42
hpp::core::PathValidationsPtr_t
shared_ptr< PathValidations > PathValidationsPtr_t
Definition: fwd.hh:308
hpp::core::size_type
pinocchio::size_type size_type
Definition: fwd.hh:173
hpp::core::pathOptimization::CostPtr_t
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:287
hpp::core::InterpolatedPathPtr_t
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:211
hpp::core::PathConstPtr_t
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:188
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
hpp::core::DistanceResults_t
pinocchio::DistanceResults_t DistanceResults_t
Definition: fwd.hh:143
hpp::core::pathOptimization::RandomShortcutPtr_t
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition: fwd.hh:283
hpp::core::ProblemTargetPtr_t
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition: fwd.hh:192
hpp::core::matrix3_t
pinocchio::matrix3_t matrix3_t
Definition: fwd.hh:163
hpp::core::SharedComparator::operator()
bool operator()(const std::shared_ptr< T > &lhs, const std::shared_ptr< T > &rhs) const
Definition: fwd.hh:121
hpp::core::continuousValidation::IntervalValidationPtr_t
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:261
hpp::core::configurationShooter::Gaussian
Definition: gaussian.hh:45
hpp::core::continuousValidation::BodyPairCollision
Definition: body-pair-collision.hh:62
hpp::core::pathProjector::Progressive
Definition: progressive.hh:37
hpp::core::NearestNeighborPtr_t
NearestNeighbor * NearestNeighborPtr_t
Definition: fwd.hh:272
hpp::core::steeringMethod::Interpolated
Definition: interpolated-steering-method.hh:45
hpp::core::ObjectStdVector_t
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition: fwd.hh:184
hpp::core::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
hpp::core::interval_t
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
hpp::core::pathValidation::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Discretized)
hpp::core::FclConstCollisionObjectPtr_t
const typedef FclCollisionObject * FclConstCollisionObjectPtr_t
Definition: fwd.hh:103
hpp::core::ConfigProjectorPtr_t
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:114
hpp::core::CollisionPair
Definition: collision-pair.hh:45
hpp::core::LockedJoints_t
constraints::LockedJoints_t LockedJoints_t
Definition: fwd.hh:161
hpp::core::distance::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(ReedsShepp)
hpp::core::NearestNeighbor
Optimization of the nearest neighbor search.
Definition: nearest-neighbor.hh:39
hpp::core::problemTarget::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(GoalConfigurations)
hpp::core::Nodes_t
std::list< NodePtr_t > Nodes_t
Definition: fwd.hh:181
hpp::core::vector2_t
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition: fwd.hh:219
hpp::core::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(BiRRTPlanner)
hpp::core::ConnectedComponents_t
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition: fwd.hh:127
hpp::core::KinodynamicOrientedPathPtr_t
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition: fwd.hh:208
hpp::core::LiegroupSpacePtr_t
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:172
hpp::core::KinodynamicDistancePtr_t
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition: fwd.hh:227
hpp::core::FclCollisionObject
pinocchio::FclCollisionObject FclCollisionObject
Definition: fwd.hh:101
hpp::core::path::Spline
Definition: fwd.hh:244
hpp::core::ContinuousValidation
Definition: continuous-validation.hh:96
hpp::core::CollisionPair_t
CollisionPair CollisionPair_t
Definition: fwd.hh:237
hpp::core::NodePtr_t
Node * NodePtr_t
Definition: fwd.hh:180
hpp::core::vector_t
pinocchio::vector_t vector_t
Definition: fwd.hh:220
hpp::core::steeringMethod::InterpolatedPtr_t
shared_ptr< Interpolated > InterpolatedPtr_t
Definition: fwd.hh:337
hpp::core::JointBoundValidationReportPtr_t
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition: fwd.hh:154
hpp::core::Device_t
pinocchio::Device Device_t
Definition: fwd.hh:133
hpp::core::ConfigurationPtr_t
pinocchio::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:109
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
Definition: fwd.hh:141
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:107
hpp::core::NodeVector_t
std::vector< NodePtr_t > NodeVector_t
Definition: fwd.hh:182
hpp::core::ContinuousValidationPtr_t
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition: fwd.hh:251
hpp::core::PathOptimizerPtr_t
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition: fwd.hh:190
hpp::core::configurationShooter::GaussianPtr_t
shared_ptr< Gaussian > GaussianPtr_t
Definition: fwd.hh:355
hpp::core::NumericalConstraintMap_t
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition: fwd.hh:229
hpp::core::ConstObjectStdVector_t
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:185
hpp::core::pathOptimization::Cost
Definition: cost.hh:44
hpp::core::LockedJoint
constraints::LockedJoint LockedJoint
Definition: fwd.hh:158
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
hpp::core::InterpolatedPathConstPtr_t
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition: fwd.hh:212
hpp::core::nearestNeighbor::KDTreePtr_t
KDTree * KDTreePtr_t
Definition: fwd.hh:276
hpp::core::Node
Definition: node.hh:46
hpp::core::VisibilityPrmPlannerPtr_t
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition: fwd.hh:224
hpp::core::continuousValidation::ProgressivePtr_t
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:256
hpp::core::PathValidation
Definition: path-validation.hh:51
hpp::core::vectorOut_t
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:222
hpp::core::ConfigConstIterator_t
Configurations_t::const_iterator ConfigConstIterator_t
Definition: fwd.hh:112
hpp::core::CollisionPathValidationReports_t
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition: fwd.hh:320
hpp::core::LiegroupElementConstRef
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition: fwd.hh:170
hpp::core::problemTarget::GoalConfigurationsPtr_t
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition: fwd.hh:347
hpp::core::nearestNeighbor::BasicPtr_t
Basic * BasicPtr_t
Definition: fwd.hh:278
hpp::core::Shape_t
constraints::Shape_t Shape_t
Definition: fwd.hh:360
hpp::core::CollisionObjectPtr_t
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition: fwd.hh:98
hpp::core::continuousValidation::IntervalValidation
Definition: interval-validation.hh:67
hpp::core::vector3_t
pinocchio::vector3_t vector3_t
Definition: fwd.hh:165
hpp::core::KinodynamicPathConstPtr_t
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition: fwd.hh:207
hpp::core::JointJacobian_t
pinocchio::JointJacobian_t JointJacobian_t
Definition: fwd.hh:148
hpp::core::pathValidation::Discretized
Definition: discretized.hh:46
hpp::core::pathValidation::DiscretizedPtr_t
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:311
hpp::core::problemTarget::TaskTargetPtr_t
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition: fwd.hh:348
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
hpp::core::JointVector_t
pinocchio::JointVector_t JointVector_t
Definition: fwd.hh:156
hpp::core::ConfigValidationsPtr_t
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition: fwd.hh:116
hpp::core::DistanceBetweenObjectsPtr_t
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition: fwd.hh:142
hpp::core::ConfigurationOut_t
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:108
hpp::core::CenterOfMassComputationMap_t
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition: fwd.hh:234
hpp::core::steeringMethod::KinodynamicPtr_t
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition: fwd.hh:341
hpp::core::matrix6_t
constraints::matrix6_t matrix6_t
Definition: fwd.hh:164
hpp::core::path::HermiteConstPtr_t
shared_ptr< const Hermite > HermiteConstPtr_t
Definition: fwd.hh:247
hpp::core::continuousValidation::SolidSolidCollisionPtr_t
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:264
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:117
hpp::core::PathVectors_t
std::vector< PathVectorPtr_t > PathVectors_t
Definition: fwd.hh:215
hpp::core::DifferentiableFunctionPtr_t
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:139
hpp::core::PathValidationReportPtr_t
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:315
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
hpp::core::pathOptimization::RandomShortcut
Definition: random-shortcut.hh:49
hpp::core::pathOptimization::ConfigOptimizationPtr_t
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:297
hpp::core::pathOptimization::PathLengthPtr_t
shared_ptr< PathLength > PathLengthPtr_t
Definition: fwd.hh:291
hpp::core::PathVectorConstPtr_t
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition: fwd.hh:194
hpp::core::CollisionValidationReportPtr_t
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:95
hpp::core::continuousValidation::DichotomyPtr_t
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:254
deprecated.hh
hpp::core::ConstraintSetConstPtr_t
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition: fwd.hh:131
hpp::core::path::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Hermite)
hpp::core::Transform3f
pinocchio::Transform3f Transform3f
Definition: fwd.hh:217
hpp::core::ConfigValidationPtr_t
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition: fwd.hh:115
hpp::core::PathProjectorPtr_t
shared_ptr< PathProjector > PathProjectorPtr_t
Definition: fwd.hh:323
hpp::core::configurationShooter::UniformPtr_t
shared_ptr< Uniform > UniformPtr_t
Definition: fwd.hh:353
hpp::core::DeviceWkPtr_t
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:135
hpp::core::pathOptimization::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(RandomShortcut)
hpp::core::ComparisonTypeMap_t
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition: fwd.hh:230
hpp::core::StraightPathPtr_t
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:200
hpp::core::continuousValidation::IntervalValidations_t
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:262
hpp::core::KDTreePtr_t
KDTree * KDTreePtr_t
Definition: fwd.hh:157
hpp::core::CollisionObjectConstPtr_t
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
hpp::core::matrixOut_t
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:167
hpp::core::pathProjector::RecursiveHermite
Definition: recursive-hermite.hh:42
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:199
hpp::core::CollisionPairs_t
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:239
hpp::core::KinodynamicOrientedPathConstPtr_t
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition: fwd.hh:210
hpp::core::SharedComparator
Definition: fwd.hh:119
hpp::core::LiegroupSpace
constraints::LiegroupSpace LiegroupSpace
Definition: fwd.hh:171
hpp::core::pathPlanner::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(kPrmStar)
hpp::core::BiRRTPlannerPtr_t
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition: fwd.hh:91
hpp
Definition: bi-rrt-planner.hh:35
hpp::core::ComparisonType
constraints::ComparisonType ComparisonType
Definition: fwd.hh:89
hpp::core::Edges_t
std::list< Edge * > Edges_t
Definition: fwd.hh:145
hpp::core::CollisionPathValidationReport
Path validation report used for standard collision checking.
Definition: collision-path-validation-report.hh:42
hpp::core::PathValidationPtr_t
shared_ptr< PathValidation > PathValidationPtr_t
Definition: fwd.hh:307
hpp::core::pathOptimization::GradientBased
Definition: gradient-based.hh:45
hpp::core::ProblemPtr_t
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:196
hpp::core::PlanAndOptimizePtr_t
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition: fwd.hh:195
hpp::core::pathPlanner::kPrmStar
Definition: k-prm-star.hh:40
hpp::core::steeringMethod::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Interpolated)
hpp::core::KinodynamicPathPtr_t
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition: fwd.hh:206
hpp::core::CollisionPathValidationReportPtr_t
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition: fwd.hh:318
hpp::core::problemTarget::TaskTarget
Definition: task-target.hh:50
hpp::core::NumericalConstraints_t
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:232
hpp::core::ConfigIterator_t
Configurations_t::iterator ConfigIterator_t
Definition: fwd.hh:111
hpp::core::continuousValidation::BodyPairCollisionPtr_t
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition: fwd.hh:258
hpp::core::segmentsMap_t
std::map< std::string, segments_t > segmentsMap_t
Definition: fwd.hh:231
hpp::core::ExtractedPathPtr_t
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition: fwd.hh:146
hpp::core::Paths_t
std::vector< PathPtr_t > Paths_t
Definition: fwd.hh:214
hpp::core::LockedJointPtr_t
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:159
hpp::core::vectorIn_t
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:221
hpp::core::JointBoundValidationPtr_t
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition: fwd.hh:153
hpp::core::problemTarget::GoalConfigurations
Definition: goal-configurations.hh:46
hpp::core::continuousValidation::SolidSolidCollision
Definition: solid-solid-collision.hh:55
hpp::core::DubinsPathPtr_t
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition: fwd.hh:204
hpp::core::pathOptimization::SimpleShortcutPtr_t
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition: fwd.hh:285
hpp::core::CenterOfMassComputationPtr_t
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:136
hpp::core::steeringMethod::Kinodynamic
Definition: steering-kinodynamic.hh:56
hpp::core::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
hpp::core::TimeParameterizationPtr_t
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition: fwd.hh:189
hpp::core::pathProjector::GlobalPtr_t
shared_ptr< Global > GlobalPtr_t
Definition: fwd.hh:326
hpp::core::ValidationReportPtr_t
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:225
hpp::core::configurationShooter::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Uniform)
hpp::core::Devices_t
std::deque< DevicePtr_t > Devices_t
Definition: fwd.hh:137
hpp::core::matrixIn_t
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:166
hpp::core::continuousValidation::Progressive
Definition: progressive.hh:54
hpp::core::pathProjector::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Global)
hpp::core::SubchainPathPtr_t
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition: fwd.hh:147
hpp::core::pathProjector::ProgressivePtr_t
shared_ptr< Progressive > ProgressivePtr_t
Definition: fwd.hh:330
hpp::core::LiegroupElement
constraints::LiegroupElement LiegroupElement
Definition: fwd.hh:168
hpp::core::BlockIndex
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition: fwd.hh:177
hpp::core::ComparisonTypes_t
constraints::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:86
hpp::core::HalfJointJacobian_t
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition: fwd.hh:155
hpp::core::CollisionValidationPtr_t
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:94
hpp::core::pathOptimization::GradientBasedPtr_t
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:289
hpp::core::ProblemSolverPtr_t
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:198
hpp::core::segment_t
constraints::segment_t segment_t
Definition: fwd.hh:178
hpp::core::pathProjector::DichotomyPtr_t
shared_ptr< Dichotomy > DichotomyPtr_t
Definition: fwd.hh:328
hpp::core::Edge
Definition: edge.hh:46
hpp::core::ReedsSheppPathPtr_t
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition: fwd.hh:202
hpp::core::continuousValidation::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Dichotomy)
hpp::core::steeringMethod::ReedsSheppPtr_t
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:339
hpp::core::pathProjector::RecursiveHermitePtr_t
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition: fwd.hh:332
hpp::core::pathOptimization::PartialShortcutPtr_t
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition: fwd.hh:293
hpp::core::PathPlannerPtr_t
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition: fwd.hh:191
hpp::core::distance::ReedsSheppPtr_t
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition: fwd.hh:269
hpp::core::matrix_t
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
hpp::core::path::HermitePtr_t
shared_ptr< Hermite > HermitePtr_t
Definition: fwd.hh:246
hpp::core::steeringMethod::ReedsShepp
Definition: reeds-shepp.hh:47
hpp::core::Body
hpp::pinocchio::Body Body
Definition: fwd.hh:92
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
hpp::core::pathPlanner::kPrmStarPtr_t
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition: fwd.hh:302
hpp::core::ObjectVector_t
pinocchio::ObjectVector_t ObjectVector_t
Definition: fwd.hh:183
hpp::core::StraightPathConstPtr_t
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition: fwd.hh:201
hpp::core::LockedJointConstPtr_t
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition: fwd.hh:160
hpp::core::segments_t
constraints::segments_t segments_t
Definition: fwd.hh:179
hpp::core::PathValidationReport
Definition: path-validation-report.hh:45
hpp::core::PathValidations
Definition: path-validations.hh:44
hpp::core::pathOptimization::SimpleShortcut
Definition: simple-shortcut.hh:48
hpp::core::FclCollisionObjectPtr_t
FclCollisionObject * FclCollisionObjectPtr_t
Definition: fwd.hh:102
hpp::core::DiffusingPlannerPtr_t
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition: fwd.hh:140
hpp::core::ConstraintPtr_t
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:129
hpp::core::EdgePtr_t
Edge * EdgePtr_t
Definition: fwd.hh:144
hpp::core::continuousValidation::BodyPairCollisions_t
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition: fwd.hh:259
hpp::core::pathProjector::Dichotomy
Definition: dichotomy.hh:39
hpp::core::JointConstPtr_t
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:150
hpp::core::ProblemSolver
Definition: problem-solver.hh:78
hpp::core::CollisionGeometryPtr_t
pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t
Definition: fwd.hh:100
hpp::core::rowvector_t
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:223
hpp::core::DifferentiableFunction
constraints::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:138
hpp::core::JointAndShapes_t
constraints::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:362
hpp::core::Joint
pinocchio::Joint Joint
Definition: fwd.hh:149
hpp::core::DubinsPathConstPtr_t
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition: fwd.hh:205
hpp::core::JointAndShape_t
constraints::JointAndShape_t JointAndShape_t
Definition: fwd.hh:361
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:213
hpp::core::LiegroupElementRef
constraints::LiegroupElementRef LiegroupElementRef
Definition: fwd.hh:169
hpp::core::ConfigurationShooterPtr_t
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition: fwd.hh:113
hpp::core::pathOptimization::PartialShortcut
Definition: partial-shortcut.hh:63
hpp::core::FclCollisionObjectSharePtr_t
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition: fwd.hh:104
hpp::core::Constraints_t
std::vector< ConstraintPtr_t > Constraints_t
Definition: fwd.hh:132
hpp::core::WeighedDistancePtr_t
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:226
hpp::core::PathProjector
This class projects a path using constraints.
Definition: path-projector.hh:38
hpp::core::pathOptimization::ConfigOptimization
Definition: config-optimization.hh:71
hpp::core::AllCollisionsValidationReportPtr_t
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition: fwd.hh:97
hpp::core::pathProjector::Global
Definition: global.hh:41
hpp::core::BodyPtr_t
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition: fwd.hh:93
hpp::core::Configurations_t
std::vector< ConfigurationPtr_t > Configurations_t
Definition: fwd.hh:110
hpp::core::ReedsSheppPathConstPtr_t
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition: fwd.hh:203
config.hh
hpp::core::value_type
pinocchio::value_type value_type
Definition: fwd.hh:174
hpp::core::pathOptimization::SimpleTimeParameterizationPtr_t
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition: fwd.hh:295