hpp-manipulation  4.10.1
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 boost::shared_ptr <Device> DevicePtr_t;
30  typedef boost::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 boost::shared_ptr <AxialHandle> AxialHandlePtr_t;
48  typedef boost::shared_ptr <Handle> HandlePtr_t;
49  HPP_PREDEF_CLASS (Object);
50  typedef boost::shared_ptr <Object> ObjectPtr_t;
51  typedef boost::shared_ptr <const Object> ObjectConstPtr_t;
55  typedef boost::shared_ptr <Problem> ProblemPtr_t;
57  typedef boost::shared_ptr <Roadmap> RoadmapPtr_t;
60  typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
62  typedef boost::shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
64  typedef boost::shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
65  typedef boost::shared_ptr<const LeafConnectedComp>
67  typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
69  typedef boost::shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
71  typedef boost::shared_ptr<WeighedDistance> WeighedDistancePtr_t;
86  typedef boost::shared_ptr < ManipulationPlanner > ManipulationPlannerPtr_t;
88  typedef boost::shared_ptr < GraphPathValidation > GraphPathValidationPtr_t;
90  typedef boost::shared_ptr < SteeringMethod > SteeringMethodPtr_t;
94  typedef boost::shared_ptr < GraphOptimizer > GraphOptimizerPtr_t;
96  typedef boost::shared_ptr < GraphNodeOptimizer > GraphNodeOptimizerPtr_t;
98 
99  typedef std::vector <pinocchio::DevicePtr_t> Devices_t;
100  typedef std::vector <ObjectPtr_t> Objects_t;
112  typedef boost::shared_ptr <ConstraintSet> ConstraintSetPtr_t;
123  typedef core::size_type size_type;
127 
131 
132  typedef std::list <std::string> StringList_t;
133 
134  namespace pathOptimization {
136  typedef boost::shared_ptr < SmallSteps > SmallStepsPtr_t;
137  HPP_PREDEF_CLASS (Keypoints);
138  typedef boost::shared_ptr < Keypoints > KeypointsPtr_t;
139  } // namespace pathOptimization
140 
141  namespace problemTarget {
143  typedef boost::shared_ptr < State > StatePtr_t;
144  } // namespace problemTarget
145  } // namespace manipulation
146 } // namespace hpp
147 
148 #endif // HPP_MANIPULATION_FWD_HH
hpp::manipulation::GripperPtr_t
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:41
hpp::manipulation::PathOptimizer
core::PathOptimizer PathOptimizer
Definition: fwd.hh:91
hpp::manipulation::ConstraintSet
a core::ConstraintSet remembering which edge created it
Definition: constraint-set.hh:33
hpp::manipulation::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Device)
hpp::manipulation::LeafConnectedComp
Definition: leaf-connected-comp.hh:34
hpp::manipulation::RelativeTransformation
constraints::RelativeTransformation RelativeTransformation
Definition: fwd.hh:76
hpp::manipulation::PathValidationReportPtr_t
core::PathValidationReportPtr_t PathValidationReportPtr_t
Definition: fwd.hh:119
hpp::manipulation::ValidationReport
core::ValidationReport ValidationReport
Definition: fwd.hh:116
hpp::manipulation::vectorOut_t
core::vectorOut_t vectorOut_t
Definition: fwd.hh:84
hpp::manipulation::RelativeOrientation
constraints::RelativeOrientation RelativeOrientation
Definition: fwd.hh:72
hpp::manipulation::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:37
hpp::manipulation::ComparisonTypes_t
hpp::core::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:108
hpp::manipulation::JointAndShape_t
core::JointAndShape_t JointAndShape_t
Definition: fwd.hh:129
hpp::manipulation::GraphOptimizer
Definition: graph-optimizer.hh:43
hpp::manipulation::vector3_t
core::vector3_t vector3_t
Definition: fwd.hh:125
hpp::manipulation::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:32
hpp::manipulation::value_type
core::value_type value_type
Definition: fwd.hh:79
hpp::manipulation::ExplicitPtr_t
constraints::ExplicitPtr_t ExplicitPtr_t
Definition: fwd.hh:104
hpp::manipulation::LeafConnectedCompPtr_t
boost::shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:64
hpp::manipulation::pathOptimization::SmallSteps
Definition: small-steps.hh:39
hpp::manipulation::Shape_t
core::Shape_t Shape_t
Definition: fwd.hh:128
hpp::manipulation::problemTarget::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(State)
hpp::manipulation::FrameIndices_t
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:36
hpp::manipulation::ConstraintPtr_t
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:102
hpp::manipulation::ConfigProjectorPtr_t
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:110
hpp::manipulation::vector_t
core::vector_t vector_t
Definition: fwd.hh:82
hpp::manipulation::AxialHandlePtr_t
boost::shared_ptr< AxialHandle > AxialHandlePtr_t
Definition: fwd.hh:46
hpp::manipulation::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:38
hpp::manipulation::GraphPathValidationPtr_t
boost::shared_ptr< GraphPathValidation > GraphPathValidationPtr_t
Definition: fwd.hh:88
hpp::manipulation::ProblemSolverPtr_t
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:53
hpp::manipulation::ManipulationPlannerPtr_t
boost::shared_ptr< ManipulationPlanner > ManipulationPlannerPtr_t
Definition: fwd.hh:86
hpp::manipulation::Problem
Definition: problem.hh:32
hpp::manipulation::matrixIn_t
core::matrixIn_t matrixIn_t
Definition: fwd.hh:121
hpp::manipulation::vectorIn_t
core::vectorIn_t vectorIn_t
Definition: fwd.hh:83
hpp::manipulation::DevicePtr_t
boost::shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:29
hpp::manipulation::ProblemPtr_t
boost::shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:55
hpp::manipulation::ObjectPtr_t
boost::shared_ptr< Object > ObjectPtr_t
Definition: fwd.hh:50
hpp::manipulation::pathOptimization::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(SmallSteps)
hpp::manipulation::WeighedLeafConnectedCompPtr_t
boost::shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:69
hpp::manipulation::RoadmapPtr_t
boost::shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:57
hpp::manipulation::RoadmapNode
Definition: roadmap-node.hh:32
hpp::manipulation::pathOptimization::SmallStepsPtr_t
boost::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:136
hpp::manipulation::GraphNodeOptimizer
Definition: graph-node-optimizer.hh:46
hpp::manipulation::JointIndex
pinocchio::JointIndex JointIndex
Definition: fwd.hh:33
hpp::manipulation::Constraint
core::Constraint Constraint
Definition: fwd.hh:101
hpp::manipulation::WeighedDistancePtr_t
boost::shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:71
hpp
Definition: main.hh:1
hpp::manipulation::ConnectedComponent
Definition: connected-component.hh:32
hpp::manipulation::ConfigurationShooter
core::ConfigurationShooter ConfigurationShooter
Definition: fwd.hh:114
hpp::manipulation::PathOptimizerPtr_t
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:92
hpp::manipulation::Objects_t
std::vector< ObjectPtr_t > Objects_t
Definition: fwd.hh:100
hpp::manipulation::LeafConnectedCompConstPtr_t
boost::shared_ptr< const LeafConnectedComp > LeafConnectedCompConstPtr_t
Definition: fwd.hh:66
hpp::manipulation::ManipulationPlanner
Definition: manipulation-planner.hh:36
hpp::manipulation::matrix3_t
core::matrix3_t matrix3_t
Definition: fwd.hh:126
hpp::manipulation::ImplicitPtr_t
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:105
hpp::manipulation::LockedJoint
constraints::LockedJoint LockedJoint
Definition: fwd.hh:106
hpp::manipulation::StringList_t
std::list< std::string > StringList_t
Definition: fwd.hh:132
hpp::manipulation::Handle
Part of an object that is aimed at being grasped.
Definition: handle.hh:32
hpp::manipulation::Joint
pinocchio::Joint Joint
Definition: fwd.hh:31
hpp::manipulation::LockedJointPtr_t
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:107
hpp::manipulation::Devices_t
std::vector< pinocchio::DevicePtr_t > Devices_t
Definition: fwd.hh:99
hpp::manipulation::WeighedLeafConnectedComp
Definition: leaf-connected-comp.hh:111
hpp::manipulation::SteeringMethod
Definition: graph.hh:33
hpp::manipulation::matrix_t
core::matrix_t matrix_t
Definition: fwd.hh:120
hpp::manipulation::HandlePtr_t
boost::shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:48
hpp::manipulation::graph::NumericalConstraints_t
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:53
hpp::manipulation::Roadmap
Definition: roadmap.hh:35
hpp::manipulation::JointIndices_t
std::vector< JointIndex > JointIndices_t
Definition: fwd.hh:34
hpp::manipulation::problemTarget::State
Definition: state.hh:38
hpp::manipulation::FrameIndex
pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:35
hpp::manipulation::RelativePositionPtr_t
constraints::RelativePositionPtr_t RelativePositionPtr_t
Definition: fwd.hh:75
hpp::manipulation::WeighedDistance
Class for distance between configurations.
Definition: weighed-distance.hh:33
hpp::manipulation::NumericalConstraints_t
core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:117
hpp::manipulation::RelativePosition
constraints::RelativePosition RelativePosition
Definition: fwd.hh:73
hpp::manipulation::ObjectConstPtr_t
boost::shared_ptr< const Object > ObjectConstPtr_t
Definition: fwd.hh:51
hpp::manipulation::ConfigurationOut_t
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:39
hpp::manipulation::size_type
core::size_type size_type
Definition: fwd.hh:80
hpp::manipulation::RoadmapNodePtr_t
RoadmapNode * RoadmapNodePtr_t
Definition: fwd.hh:59
hpp::manipulation::PathProjectorPtr_t
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: fwd.hh:97
hpp::manipulation::JointAndShapes_t
core::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:130
hpp::manipulation::RelativeOrientationPtr_t
constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t
Definition: fwd.hh:74
hpp::manipulation::Explicit
constraints::Explicit Explicit
Definition: fwd.hh:103
hpp::manipulation::GraphOptimizerPtr_t
boost::shared_ptr< GraphOptimizer > GraphOptimizerPtr_t
Definition: fwd.hh:94
hpp::manipulation::matrixOut_t
core::matrixOut_t matrixOut_t
Definition: fwd.hh:122
hpp::manipulation::SteeringMethodPtr_t
boost::shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:90
hpp::manipulation::PathValidationPtr_t
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:118
hpp::manipulation::LiegroupSpace
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:43
hpp::manipulation::Transform3f
core::Transform3f Transform3f
Definition: fwd.hh:81
hpp::manipulation::ProblemSolver
Definition: problem-solver.hh:33
hpp::manipulation::DeviceConstPtr_t
boost::shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:30
hpp::manipulation::ConfigurationShooterPtr_t
core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: fwd.hh:115
hpp::manipulation::DifferentiableFunctionPtr_t
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:113
hpp::manipulation::LeafConnectedComps_t
std::set< LeafConnectedCompPtr_t > LeafConnectedComps_t
Definition: fwd.hh:67
hpp::manipulation::GraphPathValidation
Definition: graph-path-validation.hh:46
hpp::manipulation::RoadmapNodes_t
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:60
hpp::manipulation::ConfigProjector
core::ConfigProjector ConfigProjector
Definition: fwd.hh:109
hpp::manipulation::GraphNodeOptimizerPtr_t
boost::shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition: fwd.hh:96
hpp::manipulation::ConfigurationPtr_t
core::ConfigurationPtr_t ConfigurationPtr_t
Definition: fwd.hh:40
hpp::manipulation::ConnectedComponentPtr_t
boost::shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:62
hpp::manipulation::ConstraintSetPtr_t
boost::shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:112
hpp::manipulation::problemTarget::StatePtr_t
boost::shared_ptr< State > StatePtr_t
Definition: fwd.hh:143
hpp::manipulation::pathOptimization::KeypointsPtr_t
boost::shared_ptr< Keypoints > KeypointsPtr_t
Definition: fwd.hh:138
hpp::manipulation::RelativeTransformationPtr_t
constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t
Definition: fwd.hh:78
hpp::manipulation::LiegroupElement
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:42
hpp::manipulation::LiegroupSpacePtr_t
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:44