hpp-wholebody-step  4.12.0
Path planning for humanoid robot by sliding on the groud.
fwd.hh
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1 // This file is part of hpp-wholebody-step.
7 // hpp-wholebody-step-planner 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-wholebody-step-planner 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-wholebody-step-planner. If not, see
18 // <http://www.gnu.org/licenses/>.
19 
20 #ifndef HPP_WHOLEBODY_STEP_FWD_HH
21 # define HPP_WHOLEBODY_STEP_FWD_HH
22 
23 # include <hpp/core/fwd.hh>
24 # include <hpp/walkgen/fwd.hh>
26 # include <hpp/constraints/symbolic-function.hh>
27 
28 namespace hpp {
29  namespace wholebodyStep {
31 
39  typedef constraints::Traits<constraints::JointFrame>::Ptr_t JointFramePtr_t;
40  typedef constraints::SymbolicFunction<JointFrame> JointFrameFunction;
41  typedef constraints::SymbolicFunction<JointFrame>::Ptr_t JointFrameFunctionPtr_t;
43  typedef constraints::SymbolicFunction<PointInJoint> PointInJointFunction;
45  typedef constraints::SymbolicFunction<PointCom> PointComFunction;
46  typedef constraints::SymbolicFunction<PointCom>::Ptr_t PointComFunctionPtr_t;
47 
50 
51  typedef core::Path Path;
57 
59 
67 
78 
83 
85  typedef std::shared_ptr <SmallSteps> SmallStepsPtr_t;
87  typedef std::shared_ptr <TimeDependantPath> TimeDependantPathPtr_t;
88  } // namespace wholebodyStep
89 } // namespace hpp
90 #endif // HPP_WHOLEBODY_STEP_FWD_HH
hpp::wholebodyStep::ConfigProjectorPtr_t
core::ConfigProjectorPtr_t ConfigProjectorPtr_t
Definition: fwd.hh:35
hpp::wholebodyStep::PointInJoint
constraints::PointInJoint PointInJoint
Definition: fwd.hh:42
hpp::wholebodyStep::PointComFunction
constraints::SymbolicFunction< PointCom > PointComFunction
Definition: fwd.hh:45
hpp::wholebodyStep::SplineBased
walkgen::SplineBased SplineBased
Definition: fwd.hh:81
hpp::wholebodyStep::TimeDependantPathPtr_t
std::shared_ptr< TimeDependantPath > TimeDependantPathPtr_t
Definition: fwd.hh:87
hpp::wholebodyStep::ConfigurationIn_t
core::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:69
hpp::wholebodyStep::SmallSteps
Definition: small-steps.hh:34
hpp::wholebodyStep::DifferentiableFunction
core::DifferentiableFunction DifferentiableFunction
Definition: fwd.hh:37
hpp::wholebodyStep::LiegroupSpacePtr_t
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition: fwd.hh:66
hpp::wholebodyStep::ConstraintSetPtr_t
core::ConstraintSetPtr_t ConstraintSetPtr_t
Definition: fwd.hh:33
hpp::wholebodyStep::size_type
core::size_type size_type
Definition: fwd.hh:77
hpp::wholebodyStep::JointFrameFunction
constraints::SymbolicFunction< JointFrame > JointFrameFunction
Definition: fwd.hh:40
hpp::wholebodyStep::ConstraintSet
core::ConstraintSet ConstraintSet
Definition: fwd.hh:32
hpp::wholebodyStep::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:30
hpp::wholebodyStep::CenterOfMassComputationPtr_t
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition: fwd.hh:58
hpp::wholebodyStep::PathVectorPtr_t
core::PathVectorPtr_t PathVectorPtr_t
Definition: fwd.hh:54
hpp::wholebodyStep::TimeDependantPath
Definition: time-dependant-path.hh:30
hpp::wholebodyStep::value_type
core::value_type value_type
Definition: fwd.hh:76
hpp::wholebodyStep::vector_t
core::vector_t vector_t
Definition: fwd.hh:74
hpp::wholebodyStep::ConfigurationOut_t
core::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:70
hpp::wholebodyStep::Transform3f
core::Transform3f Transform3f
Definition: fwd.hh:71
hpp::wholebodyStep::PointComFunctionPtr_t
constraints::SymbolicFunction< PointCom >::Ptr_t PointComFunctionPtr_t
Definition: fwd.hh:46
hpp::wholebodyStep::JointFrameFunctionPtr_t
constraints::SymbolicFunction< JointFrame >::Ptr_t JointFrameFunctionPtr_t
Definition: fwd.hh:41
hpp::wholebodyStep::PointInJointFunction
constraints::SymbolicFunction< PointInJoint > PointInJointFunction
Definition: fwd.hh:43
hpp::wholebodyStep::StraightPath
core::StraightPath StraightPath
Definition: fwd.hh:55
hpp::wholebodyStep::ConfigProjector
core::ConfigProjector ConfigProjector
Definition: fwd.hh:34
hpp::wholebodyStep::PathVector
core::PathVector PathVector
Definition: fwd.hh:53
hpp::wholebodyStep::SmallStepsPtr_t
std::shared_ptr< SmallSteps > SmallStepsPtr_t
Definition: fwd.hh:85
hpp
Definition: fwd.hh:28
hpp::wholebodyStep::CubicBSplinePtr_t
walkgen::CubicBSplinePtr_t CubicBSplinePtr_t
Definition: fwd.hh:82
hpp::wholebodyStep::StraightPathPtr_t
core::StraightPathPtr_t StraightPathPtr_t
Definition: fwd.hh:56
hpp::wholebodyStep::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(SmallSteps)
hpp::wholebodyStep::HumanoidRobot
pinocchio::HumanoidRobot HumanoidRobot
Definition: fwd.hh:63
hpp::wholebodyStep::PointCom
constraints::PointCom PointCom
Definition: fwd.hh:44
hpp::wholebodyStep::JointFramePtr_t
constraints::Traits< constraints::JointFrame >::Ptr_t JointFramePtr_t
Definition: fwd.hh:39
hpp::wholebodyStep::LiegroupElement
pinocchio::LiegroupElement LiegroupElement
Definition: fwd.hh:64
hpp::wholebodyStep::vectorOut_t
core::vectorOut_t vectorOut_t
Definition: fwd.hh:75
hpp::wholebodyStep::SplineBasedPtr_t
walkgen::SplineBasedPtr_t SplineBasedPtr_t
Definition: fwd.hh:80
hpp::wholebodyStep::PathPtr_t
core::PathPtr_t PathPtr_t
Definition: fwd.hh:52
hpp::wholebodyStep::vector3_t
core::vector3_t vector3_t
Definition: fwd.hh:73
hpp::wholebodyStep::DifferentiableFunctionPtr_t
core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition: fwd.hh:36
hpp::wholebodyStep::Path
core::Path Path
Definition: fwd.hh:51
hpp::wholebodyStep::LiegroupSpace
pinocchio::LiegroupSpace LiegroupSpace
Definition: fwd.hh:65
hpp::wholebodyStep::ProblemConstPtr_t
core::ProblemConstPtr_t ProblemConstPtr_t
Definition: fwd.hh:48
hpp::wholebodyStep::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:61
hpp::wholebodyStep::PathOptimizerPtr_t
core::PathOptimizerPtr_t PathOptimizerPtr_t
Definition: fwd.hh:49
hpp::wholebodyStep::HumanoidRobotPtr_t
pinocchio::HumanoidRobotPtr_t HumanoidRobotPtr_t
Definition: fwd.hh:62
hpp::wholebodyStep::Configuration_t
core::Configuration_t Configuration_t
Definition: fwd.hh:68
hpp::wholebodyStep::matrix3_t
core::matrix3_t matrix3_t
Definition: fwd.hh:72
config.hh
hpp::wholebodyStep::FootPrint
walkgen::FootPrint FootPrint
Definition: fwd.hh:79
hpp::wholebodyStep::JointFrame
constraints::JointFrame JointFrame
Definition: fwd.hh:38