fwd.hh

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//
// Copyright (c) 2025 CNRS
// Authors: Florent Lamiraux
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
 
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
 
// 2. Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following
// disclaimer in the documentation and/or other materials provided
// with the distribution.
 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
// OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef PYHPP_MANIPULATION_FWD_HH
#define PYHPP_MANIPULATION_FWD_HH
 
#include <pyhpp/util.hh>
 
namespace pyhpp {
namespace manipulation {
 
struct Device;
struct Problem;
struct PyWEdge;
struct PyWGraph;
struct GraphSteeringMethod;
 
// Shared pointer typedefs
typedef std::shared_ptr<Device> PyWDevicePtr_t;
typedef std::shared_ptr<Problem> PyWProblemPtr_t;
typedef std::shared_ptr<PyWGraph> PyWGraphPtr_t;
typedef std::shared_ptr<GraphSteeringMethod> PyWGraphSteeringMethodPtr_t;
 
void exposeDevice();
void exposeHandle();
void exposeGraph();
void exposePathPlanners();
void exposeProblem();
void exposePathProjector();
void exposeManipSteeringMethod();
void exposePathOptimizers();
 
}  // namespace manipulation
}  // namespace pyhpp
 
#endif  // PYHPP_MANIPULATION_FWD_HH