hpp-manipulation  5.0.0
Classes for manipulation planning.
fwd.hh
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2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux, Joseph Mirabel
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30 
31 #ifndef HPP_MANIPULATION_FWD_HH
32 #define HPP_MANIPULATION_FWD_HH
33 
34 #include <hpp/core/fwd.hh>
35 #include <map>
36 
37 namespace hpp {
38 namespace manipulation {
39 HPP_PREDEF_CLASS(Device);
40 typedef shared_ptr<Device> DevicePtr_t;
41 typedef shared_ptr<const Device> DeviceConstPtr_t;
45 typedef std::vector<JointIndex> JointIndices_t;
47 typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
55 HPP_PREDEF_CLASS(AxialHandle);
56 typedef shared_ptr<AxialHandle> AxialHandlePtr_t;
58 typedef shared_ptr<Handle> HandlePtr_t;
59 HPP_PREDEF_CLASS(Object);
60 typedef shared_ptr<Object> ObjectPtr_t;
61 typedef shared_ptr<const Object> ObjectConstPtr_t;
65 typedef shared_ptr<Problem> ProblemPtr_t;
66 typedef shared_ptr<const Problem> ProblemConstPtr_t;
68 typedef shared_ptr<Roadmap> RoadmapPtr_t;
71 typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
73 typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
75 typedef shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
76 typedef shared_ptr<const LeafConnectedComp> LeafConnectedCompConstPtr_t;
77 typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
79 typedef shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
81 typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
96 typedef shared_ptr<ManipulationPlanner> ManipulationPlannerPtr_t;
97 namespace pathPlanner {
99 typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
101 typedef shared_ptr<StatesPathFinder> StatesPathFinderPtr_t;
102 HPP_PREDEF_CLASS(InStatePath);
103 typedef shared_ptr<InStatePath> InStatePathPtr_t;
104 HPP_PREDEF_CLASS(StateShooter);
105 typedef shared_ptr<StateShooter> StateShooterPtr_t;
107 typedef shared_ptr<TransitionPlanner> TransitionPlannerPtr_t;
108 } // namespace pathPlanner
110 typedef shared_ptr<GraphPathValidation> GraphPathValidationPtr_t;
112 typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
113 namespace steeringMethod {
115 typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
116 } // namespace steeringMethod
120 typedef shared_ptr<GraphOptimizer> GraphOptimizerPtr_t;
122 typedef shared_ptr<GraphNodeOptimizer> GraphNodeOptimizerPtr_t;
124 
125 typedef std::vector<pinocchio::DevicePtr_t> Devices_t;
126 typedef std::vector<ObjectPtr_t> Objects_t;
138 typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
149 typedef core::size_type size_type;
153 
157 
158 typedef std::list<std::string> StringList_t;
159 typedef std::vector<std::string> Strings_t;
160 
161 namespace pathOptimization {
162 HPP_PREDEF_CLASS(SmallSteps);
163 typedef shared_ptr<SmallSteps> SmallStepsPtr_t;
164 HPP_PREDEF_CLASS(Keypoints);
165 typedef shared_ptr<Keypoints> KeypointsPtr_t;
166 } // namespace pathOptimization
167 
168 namespace problemTarget {
170 typedef shared_ptr<State> StatePtr_t;
171 } // namespace problemTarget
172 } // namespace manipulation
173 } // namespace hpp
174 
175 #endif // HPP_MANIPULATION_FWD_HH
hpp::manipulation::steeringMethod::EndEffectorTrajectoryPtr_t
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: fwd.hh:115
hpp::manipulation::GripperPtr_t
pinocchio::GripperPtr_t GripperPtr_t
Definition: fwd.hh:51
hpp::manipulation::PathOptimizer
core::PathOptimizer PathOptimizer
Definition: fwd.hh:117
hpp::manipulation::ConstraintSet
a core::ConstraintSet remembering which edge created it
Definition: constraint-set.hh:43
hpp::manipulation::pathOptimization::SmallStepsPtr_t
shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:163
hpp::manipulation::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(Device)
hpp::manipulation::LeafConnectedComp
Definition: leaf-connected-comp.hh:44
hpp::manipulation::RelativeTransformation
constraints::RelativeTransformation RelativeTransformation
Definition: fwd.hh:86
hpp::manipulation::PathValidationReportPtr_t
core::PathValidationReportPtr_t PathValidationReportPtr_t
Definition: fwd.hh:145
hpp::manipulation::ValidationReport
core::ValidationReport ValidationReport
Definition: fwd.hh:142
hpp::manipulation::vectorOut_t
core::vectorOut_t vectorOut_t
Definition: fwd.hh:94
hpp::manipulation::RelativeOrientation
constraints::RelativeOrientation RelativeOrientation
Definition: fwd.hh:82
hpp::manipulation::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:48
hpp::manipulation::GraphOptimizerPtr_t
shared_ptr< GraphOptimizer > GraphOptimizerPtr_t
Definition: fwd.hh:120
hpp::manipulation::ComparisonTypes_t
hpp::core::ComparisonTypes_t ComparisonTypes_t
Definition: fwd.hh:134
hpp::manipulation::JointAndShape_t
core::JointAndShape_t JointAndShape_t
Definition: fwd.hh:155
hpp::manipulation::GraphOptimizer
Definition: graph-optimizer.hh:53
hpp::manipulation::vector3_t
core::vector3_t vector3_t
Definition: fwd.hh:151
hpp::manipulation::pathPlanner::InStatePathPtr_t
shared_ptr< InStatePath > InStatePathPtr_t
Definition: fwd.hh:103
hpp::manipulation::GraphPathValidationPtr_t
shared_ptr< GraphPathValidation > GraphPathValidationPtr_t
Definition: fwd.hh:110
hpp::manipulation::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:43
hpp::manipulation::value_type
core::value_type value_type
Definition: fwd.hh:89
hpp::manipulation::ExplicitPtr_t
constraints::ExplicitPtr_t ExplicitPtr_t
Definition: fwd.hh:130
hpp::manipulation::Shape_t
core::Shape_t Shape_t
Definition: fwd.hh:154
hpp::manipulation::problemTarget::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(State)
hpp::manipulation::LeafConnectedCompPtr_t
shared_ptr< LeafConnectedComp > LeafConnectedCompPtr_t
Definition: fwd.hh:75
hpp::manipulation::pathPlanner::EndEffectorTrajectory
Definition: end-effector-trajectory.hh:95
hpp::manipulation::FrameIndices_t
std::vector< pinocchio::FrameIndex > FrameIndices_t
Definition: fwd.hh:47
hpp::manipulation::ConstraintPtr_t
core::ConstraintPtr_t ConstraintPtr_t
Definition: fwd.hh:128
hpp::manipulation::ConfigProjectorPtr_t
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:136
hpp::manipulation::vector_t
core::vector_t vector_t
Definition: fwd.hh:92
hpp::manipulation::AxialHandlePtr_t
shared_ptr< AxialHandle > AxialHandlePtr_t
Definition: fwd.hh:56
hpp::manipulation::HandlePtr_t
shared_ptr< Handle > HandlePtr_t
Definition: fwd.hh:58
hpp::manipulation::pathPlanner::StateShooterPtr_t
shared_ptr< StateShooter > StateShooterPtr_t
Definition: fwd.hh:105
hpp::manipulation::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:66
hpp::manipulation::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:49
hpp::manipulation::ProblemSolverPtr_t
ProblemSolver * ProblemSolverPtr_t
Definition: fwd.hh:63
hpp::manipulation::pathPlanner::StatesPathFinder
Definition: states-path-finder.hh:99
hpp::manipulation::Problem
Definition: problem.hh:43
hpp::manipulation::matrixIn_t
core::matrixIn_t matrixIn_t
Definition: fwd.hh:147
hpp::manipulation::pathPlanner::StatesPathFinderPtr_t
shared_ptr< StatesPathFinder > StatesPathFinderPtr_t
Definition: fwd.hh:101
hpp::manipulation::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition: fwd.hh:68
hpp::manipulation::vectorIn_t
core::vectorIn_t vectorIn_t
Definition: fwd.hh:93
hpp::manipulation::pathPlanner::EndEffectorTrajectoryPtr_t
shared_ptr< EndEffectorTrajectory > EndEffectorTrajectoryPtr_t
Definition: fwd.hh:99
hpp::manipulation::pathOptimization::KeypointsPtr_t
shared_ptr< Keypoints > KeypointsPtr_t
Definition: fwd.hh:165
hpp::manipulation::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition: fwd.hh:73
hpp::manipulation::pathPlanner::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(EndEffectorTrajectory)
hpp::manipulation::WeighedLeafConnectedCompPtr_t
shared_ptr< WeighedLeafConnectedComp > WeighedLeafConnectedCompPtr_t
Definition: fwd.hh:79
hpp::manipulation::pathOptimization::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(SmallSteps)
hpp::manipulation::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:138
hpp::manipulation::RoadmapNode
Definition: roadmap-node.hh:42
hpp::manipulation::GraphNodeOptimizer
Definition: graph-node-optimizer.hh:57
hpp::manipulation::JointIndex
pinocchio::JointIndex JointIndex
Definition: fwd.hh:44
hpp::manipulation::Constraint
core::Constraint Constraint
Definition: fwd.hh:127
hpp::manipulation::problemTarget::StatePtr_t
shared_ptr< State > StatePtr_t
Definition: fwd.hh:170
hpp
Definition: main.hh:1
hpp::manipulation::ConnectedComponent
Definition: connected-component.hh:43
hpp::manipulation::ConfigurationShooter
core::ConfigurationShooter ConfigurationShooter
Definition: fwd.hh:140
hpp::manipulation::PathOptimizerPtr_t
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:118
hpp::manipulation::Objects_t
std::vector< ObjectPtr_t > Objects_t
Definition: fwd.hh:126
hpp::manipulation::ManipulationPlanner
Definition: manipulation-planner.hh:46
hpp::manipulation::matrix3_t
core::matrix3_t matrix3_t
Definition: fwd.hh:152
hpp::manipulation::ManipulationPlannerPtr_t
shared_ptr< ManipulationPlanner > ManipulationPlannerPtr_t
Definition: fwd.hh:96
hpp::manipulation::ImplicitPtr_t
constraints::ImplicitPtr_t ImplicitPtr_t
Definition: fwd.hh:131
hpp::manipulation::steeringMethod::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(EndEffectorTrajectory)
hpp::manipulation::WeighedDistancePtr_t
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:81
hpp::manipulation::LockedJoint
constraints::LockedJoint LockedJoint
Definition: fwd.hh:132
hpp::manipulation::StringList_t
std::list< std::string > StringList_t
Definition: fwd.hh:158
hpp::manipulation::Handle
Definition: handle.hh:58
hpp::manipulation::pathPlanner::TransitionPlanner
Definition: transition-planner.hh:67
hpp::manipulation::Joint
pinocchio::Joint Joint
Definition: fwd.hh:42
hpp::manipulation::LockedJointPtr_t
constraints::LockedJointPtr_t LockedJointPtr_t
Definition: fwd.hh:133
hpp::manipulation::Devices_t
std::vector< pinocchio::DevicePtr_t > Devices_t
Definition: fwd.hh:125
hpp::manipulation::WeighedLeafConnectedComp
Definition: leaf-connected-comp.hh:109
hpp::manipulation::SteeringMethod
Definition: graph.hh:43
hpp::manipulation::ObjectPtr_t
shared_ptr< Object > ObjectPtr_t
Definition: fwd.hh:60
hpp::manipulation::matrix_t
core::matrix_t matrix_t
Definition: fwd.hh:146
hpp::manipulation::DeviceConstPtr_t
shared_ptr< const Device > DeviceConstPtr_t
Definition: fwd.hh:41
hpp::manipulation::graph::NumericalConstraints_t
hpp::core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:64
hpp::manipulation::Roadmap
Definition: roadmap.hh:47
hpp::manipulation::JointIndices_t
std::vector< JointIndex > JointIndices_t
Definition: fwd.hh:45
hpp::manipulation::DevicePtr_t
shared_ptr< Device > DevicePtr_t
Definition: fwd.hh:40
hpp::manipulation::problemTarget::State
Definition: state.hh:48
hpp::manipulation::FrameIndex
pinocchio::FrameIndex FrameIndex
Definition: fwd.hh:46
hpp::manipulation::RelativePositionPtr_t
constraints::RelativePositionPtr_t RelativePositionPtr_t
Definition: fwd.hh:85
hpp::manipulation::WeighedDistance
Class for distance between configurations.
Definition: weighed-distance.hh:43
hpp::manipulation::ProblemPtr_t
shared_ptr< Problem > ProblemPtr_t
Definition: fwd.hh:65
hpp::manipulation::NumericalConstraints_t
core::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:143
hpp::manipulation::steeringMethod::EndEffectorTrajectory
Definition: end-effector-trajectory.hh:72
hpp::manipulation::RelativePosition
constraints::RelativePosition RelativePosition
Definition: fwd.hh:83
hpp::manipulation::RelativeTransformationR3xSO3
constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3
Definition: fwd.hh:87
hpp::manipulation::Strings_t
std::vector< std::string > Strings_t
Definition: fwd.hh:159
hpp::manipulation::ConfigurationOut_t
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:50
hpp::manipulation::size_type
core::size_type size_type
Definition: fwd.hh:90
hpp::manipulation::RoadmapNodePtr_t
RoadmapNode * RoadmapNodePtr_t
Definition: fwd.hh:70
hpp::manipulation::PathProjectorPtr_t
core::PathProjectorPtr_t PathProjectorPtr_t
Definition: fwd.hh:123
hpp::manipulation::ObjectConstPtr_t
shared_ptr< const Object > ObjectConstPtr_t
Definition: fwd.hh:61
hpp::manipulation::JointAndShapes_t
core::JointAndShapes_t JointAndShapes_t
Definition: fwd.hh:156
hpp::manipulation::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition: fwd.hh:112
hpp::manipulation::RelativeOrientationPtr_t
constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t
Definition: fwd.hh:84
hpp::manipulation::LeafConnectedCompConstPtr_t
shared_ptr< const LeafConnectedComp > LeafConnectedCompConstPtr_t
Definition: fwd.hh:76
hpp::manipulation::Explicit
constraints::Explicit Explicit
Definition: fwd.hh:129
hpp::manipulation::matrixOut_t
core::matrixOut_t matrixOut_t
Definition: fwd.hh:148
hpp::manipulation::PathValidationPtr_t
core::PathValidationPtr_t PathValidationPtr_t
Definition: fwd.hh:144
hpp::manipulation::pathPlanner::TransitionPlannerPtr_t
shared_ptr< TransitionPlanner > TransitionPlannerPtr_t
Definition: fwd.hh:107
hpp::manipulation::LiegroupSpace
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:53
hpp::manipulation::Transform3f
core::Transform3f Transform3f
Definition: fwd.hh:91
hpp::manipulation::ProblemSolver
Definition: problem-solver.hh:45
hpp::manipulation::GraphNodeOptimizerPtr_t
shared_ptr< GraphNodeOptimizer > GraphNodeOptimizerPtr_t
Definition: fwd.hh:122
hpp::manipulation::ConfigurationShooterPtr_t
core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t
Definition: fwd.hh:141
hpp::manipulation::DifferentiableFunctionPtr_t
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:139
hpp::manipulation::LeafConnectedComps_t
std::set< LeafConnectedCompPtr_t > LeafConnectedComps_t
Definition: fwd.hh:77
hpp::manipulation::GraphPathValidation
Definition: graph-path-validation.hh:56
hpp::manipulation::RoadmapNodes_t
std::vector< RoadmapNodePtr_t > RoadmapNodes_t
Definition: fwd.hh:71
hpp::manipulation::ConfigProjector
core::ConfigProjector ConfigProjector
Definition: fwd.hh:135
hpp::manipulation::RelativeTransformationPtr_t
constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t
Definition: fwd.hh:88
hpp::manipulation::LiegroupElement
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:52
hpp::manipulation::LiegroupSpacePtr_t
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:54