hpp-core: include/hpp/core/fwd.hh Source File

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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fwd.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Florent Lamiraux, Joseph Mirabel
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
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
43namespace hpp {
44namespace core {
45HPP_PREDEF_CLASS(BiRRTPlanner);
46HPP_PREDEF_CLASS(CollisionValidation);
47HPP_PREDEF_CLASS(CollisionValidationReport);
48HPP_PREDEF_CLASS(AllCollisionsValidationReport);
49HPP_PREDEF_CLASS(ConfigurationShooter);
50HPP_PREDEF_CLASS(ConfigProjector);
51HPP_PREDEF_CLASS(ConfigValidation);
52HPP_PREDEF_CLASS(ConfigValidations);
53HPP_PREDEF_CLASS(ConnectedComponent);
54HPP_PREDEF_CLASS(Constraint);
55HPP_PREDEF_CLASS(ConstraintSet);
56HPP_PREDEF_CLASS(DiffusingPlanner);
57HPP_PREDEF_CLASS(Distance);
58HPP_PREDEF_CLASS(DistanceBetweenObjects);
59class Edge;
60HPP_PREDEF_CLASS(ExtractedPath);
61HPP_PREDEF_CLASS(SubchainPath);
62HPP_PREDEF_CLASS(JointBoundValidation);
63struct JointBoundValidationReport;
64class Node;
65HPP_PREDEF_CLASS(Path);
66HPP_PREDEF_CLASS(TimeParameterization);
67HPP_PREDEF_CLASS(PathOptimizer);
68HPP_PREDEF_CLASS(PathPlanner);
69class Parameter;
70HPP_PREDEF_CLASS(ProblemTarget);
71HPP_PREDEF_CLASS(PathVector);
72HPP_PREDEF_CLASS(PlanAndOptimize);
73HPP_PREDEF_CLASS(Problem);
74class ProblemSolver;
75HPP_PREDEF_CLASS(Roadmap);
76HPP_PREDEF_CLASS(SteeringMethod);
77HPP_PREDEF_CLASS(StraightPath);
78HPP_PREDEF_CLASS(InterpolatedPath);
79HPP_PREDEF_CLASS(DubinsPath);
80HPP_PREDEF_CLASS(ReedsSheppPath);
81HPP_PREDEF_CLASS(KinodynamicPath);
82HPP_PREDEF_CLASS(KinodynamicOrientedPath);
83HPP_PREDEF_CLASS(ValidationReport);
84HPP_PREDEF_CLASS(VisibilityPrmPlanner);
85HPP_PREDEF_CLASS(WeighedDistance);
86HPP_PREDEF_CLASS(KinodynamicDistance);
87class KDTree;
88
89 typedef constraints::ComparisonTypes_t ComparisonTypes_t;
90 typedef constraints::ComparisonType ComparisonType;
91
92 typedef shared_ptr<BiRRTPlanner> BiRRTPlannerPtr_t;
93 typedef hpp::pinocchio::Body Body;
94 typedef hpp::pinocchio::BodyPtr_t BodyPtr_t;
95 typedef shared_ptr<CollisionValidation> CollisionValidationPtr_t;
96 typedef shared_ptr<CollisionValidationReport> CollisionValidationReportPtr_t;
97typedef shared_ptr<AllCollisionsValidationReport>
98 AllCollisionsValidationReportPtr_t;
99 typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t;
100 typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t;
101 typedef pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t;
102 typedef pinocchio::FclCollisionObject FclCollisionObject;
103 typedef FclCollisionObject* FclCollisionObjectPtr_t;
104 typedef const FclCollisionObject* FclConstCollisionObjectPtr_t;
105 typedef shared_ptr<FclCollisionObject> FclCollisionObjectSharePtr_t;
106
107 typedef pinocchio::Configuration_t Configuration_t;
108 typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
109 typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
110 typedef std::vector<Configuration_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
119 struct SharedComparator {
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};
126typedef std::set<ConnectedComponentPtr_t, SharedComparator>
127 ConnectedComponents_t;
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;
134 typedef pinocchio::DevicePtr_t DevicePtr_t;
135 typedef pinocchio::DeviceWkPtr_t DeviceWkPtr_t;
136 typedef pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t;
137 typedef std::deque<DevicePtr_t> Devices_t;
138 typedef constraints::DifferentiableFunction DifferentiableFunction;
139 typedef constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
140 typedef shared_ptr<DiffusingPlanner> DiffusingPlannerPtr_t;
141 typedef shared_ptr<Distance> DistancePtr_t;
142 typedef shared_ptr<DistanceBetweenObjects> DistanceBetweenObjectsPtr_t;
143 typedef pinocchio::DistanceResults_t DistanceResults_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;
148 typedef pinocchio::JointJacobian_t JointJacobian_t;
149 typedef pinocchio::Joint Joint;
150 typedef pinocchio::JointConstPtr_t JointConstPtr_t;
151 typedef pinocchio::JointPtr_t JointPtr_t;
152typedef pinocchio::JointConstPtr_t JointConstPtr_t;
153 typedef shared_ptr<JointBoundValidation> JointBoundValidationPtr_t;
154 typedef shared_ptr<JointBoundValidationReport> JointBoundValidationReportPtr_t;
155 typedef pinocchio::HalfJointJacobian_t HalfJointJacobian_t;
156 typedef pinocchio::JointVector_t JointVector_t;
157 typedef KDTree* KDTreePtr_t;
158 typedef constraints::LockedJoint LockedJoint;
159 typedef constraints::LockedJointPtr_t LockedJointPtr_t;
160 typedef constraints::LockedJointConstPtr_t LockedJointConstPtr_t;
161 typedef constraints::LockedJoints_t LockedJoints_t;
162 typedef pinocchio::matrix_t matrix_t;
163 typedef pinocchio::matrix3_t matrix3_t;
164 typedef constraints::matrix6_t matrix6_t;
165 typedef pinocchio::vector3_t vector3_t;
166 typedef constraints::matrixIn_t matrixIn_t;
167 typedef constraints::matrixOut_t matrixOut_t;
168 typedef constraints::LiegroupElement LiegroupElement;
169 typedef constraints::LiegroupElementRef LiegroupElementRef;
170 typedef pinocchio::LiegroupElementConstRef LiegroupElementConstRef;
171 typedef constraints::LiegroupSpace LiegroupSpace;
172 typedef constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t;
173 typedef pinocchio::size_type size_type;
174 typedef pinocchio::value_type value_type;
175 typedef std::pair<value_type, value_type> interval_t;
177 typedef Eigen::BlockIndex BlockIndex;
178 typedef constraints::segment_t segment_t;
179 typedef constraints::segments_t segments_t;
180 typedef Node* NodePtr_t;
181 typedef std::list<NodePtr_t> Nodes_t;
182 typedef std::vector<NodePtr_t> NodeVector_t;
183 typedef pinocchio::ObjectVector_t ObjectVector_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;
198 typedef ProblemSolver* ProblemSolverPtr_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;
209typedef shared_ptr<const KinodynamicOrientedPath>
210 KinodynamicOrientedPathConstPtr_t;
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;
216typedef std::vector<PathVectorPtr_t> PathVectors_t;
217 typedef pinocchio::Transform3s Transform3s;
218typedef pinocchio::vector3_t vector3_t;
219 typedef Eigen::Matrix<value_type, 2, 1> vector2_t;
220 typedef pinocchio::vector_t vector_t;
221 typedef pinocchio::vectorIn_t vectorIn_t;
222 typedef pinocchio::vectorOut_t vectorOut_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;
228typedef std::map<std::string, constraints::ImplicitPtr_t>
229 NumericalConstraintMap_t;
230 typedef std::map<std::string, ComparisonTypes_t> ComparisonTypeMap_t;
231 typedef std::map<std::string, segments_t> segmentsMap_t;
232 typedef constraints::NumericalConstraints_t NumericalConstraints_t;
233typedef std::map<std::string, CenterOfMassComputationPtr_t>
234 CenterOfMassComputationMap_t;
235
236// Collision pairs
237struct CollisionPair;
238 typedef CollisionPair CollisionPair_t; // For backward compatibility.
239 typedef std::vector<CollisionPair_t> CollisionPairs_t;
240
241class ExtractedPath;
242 namespace path {
243template <int _PolynomeBasis, int _Order>
244class Spline;
245HPP_PREDEF_CLASS(Hermite);
246 typedef shared_ptr<Hermite> HermitePtr_t;
247 typedef shared_ptr<const Hermite> HermiteConstPtr_t;
248HPP_PREDEF_CLASS(Cost);
249 typedef shared_ptr<Cost> CostPtr_t;
250 typedef shared_ptr<const Cost> CostConstPtr_t;
251 namespace cost {
252HPP_PREDEF_CLASS(Length);
253 typedef shared_ptr<Length> LengthPtr_t;
254 typedef shared_ptr<const Length> LengthConstPtr_t;
255} // namespace cost
256} // namespace path
257
258HPP_PREDEF_CLASS(ContinuousValidation);
259 typedef shared_ptr<ContinuousValidation> ContinuousValidationPtr_t;
260namespace continuousValidation {
261HPP_PREDEF_CLASS(Dichotomy);
262 typedef shared_ptr<Dichotomy> DichotomyPtr_t;
263HPP_PREDEF_CLASS(Progressive);
264 typedef shared_ptr<Progressive> ProgressivePtr_t;
265HPP_PREDEF_CLASS(BodyPairCollision);
266 typedef shared_ptr<BodyPairCollision> BodyPairCollisionPtr_t;
267 typedef std::vector<BodyPairCollisionPtr_t> BodyPairCollisions_t;
268HPP_PREDEF_CLASS(IntervalValidation);
269 typedef shared_ptr<IntervalValidation> IntervalValidationPtr_t;
270 typedef std::vector<IntervalValidationPtr_t> IntervalValidations_t;
271HPP_PREDEF_CLASS(SolidSolidCollision);
272 typedef shared_ptr<SolidSolidCollision> SolidSolidCollisionPtr_t;
273} // namespace continuousValidation
274
275namespace distance {
276HPP_PREDEF_CLASS(ReedsShepp);
277 typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
278} // namespace distance
279
280class NearestNeighbor;
281 typedef shared_ptr<NearestNeighbor> NearestNeighborPtr_t;
282 namespace nearestNeighbor {
283class Basic;
284class KDTree;
285 typedef shared_ptr<KDTree> KDTreePtr_t;
286 typedef shared_ptr<Basic> BasicPtr_t;
287} // namespace nearestNeighbor
288
289 namespace pathOptimization {
290HPP_PREDEF_CLASS(RandomShortcut);
291 typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t;
292HPP_PREDEF_CLASS(SimpleShortcut);
293 typedef shared_ptr<SimpleShortcut> SimpleShortcutPtr_t;
294HPP_PREDEF_CLASS(Cost);
295 typedef shared_ptr<Cost> CostPtr_t;
296HPP_PREDEF_CLASS(GradientBased);
297 typedef shared_ptr<GradientBased> GradientBasedPtr_t;
298HPP_PREDEF_CLASS(PathLength);
299 typedef shared_ptr<PathLength> PathLengthPtr_t;
300HPP_PREDEF_CLASS(PartialShortcut);
301 typedef shared_ptr<PartialShortcut> PartialShortcutPtr_t;
302HPP_PREDEF_CLASS(RSTimeParameterization);
303 typedef shared_ptr<RSTimeParameterization> RSTimeParameterizationPtr_t;
304HPP_PREDEF_CLASS(SimpleTimeParameterization);
305 typedef shared_ptr<SimpleTimeParameterization> SimpleTimeParameterizationPtr_t;
306HPP_PREDEF_CLASS(TrapezoidalTimeParameterization);
307typedef shared_ptr<TrapezoidalTimeParameterization>
308 TrapezoidalTimeParameterizationPtr_t;
309HPP_PREDEF_CLASS(ConfigOptimization);
310 typedef shared_ptr<ConfigOptimization> ConfigOptimizationPtr_t;
311} // namespace pathOptimization
312
313 namespace pathPlanner {
314HPP_PREDEF_CLASS(kPrmStar);
315 typedef shared_ptr<kPrmStar> kPrmStarPtr_t;
316} // namespace pathPlanner
317
318HPP_PREDEF_CLASS(PathValidations);
319HPP_PREDEF_CLASS(PathValidation);
320 typedef shared_ptr<PathValidation> PathValidationPtr_t;
321 typedef shared_ptr<PathValidations> PathValidationsPtr_t;
322 namespace pathValidation {
323HPP_PREDEF_CLASS(Discretized);
324 typedef shared_ptr<Discretized> DiscretizedPtr_t;
325} // namespace pathValidation
326// Path validation reports
327struct PathValidationReport;
328struct CollisionPathValidationReport;
329 typedef shared_ptr<PathValidationReport> PathValidationReportPtr_t;
330typedef shared_ptr<CollisionPathValidationReport>
331 CollisionPathValidationReportPtr_t;
332typedef std::vector<CollisionPathValidationReport>
333 CollisionPathValidationReports_t;
334
335HPP_PREDEF_CLASS(PathProjector);
336 typedef shared_ptr<PathProjector> PathProjectorPtr_t;
337 namespace pathProjector {
338HPP_PREDEF_CLASS(Global);
339 typedef shared_ptr<Global> GlobalPtr_t;
340HPP_PREDEF_CLASS(Dichotomy);
341 typedef shared_ptr<Dichotomy> DichotomyPtr_t;
342HPP_PREDEF_CLASS(Progressive);
343 typedef shared_ptr<Progressive> ProgressivePtr_t;
344HPP_PREDEF_CLASS(RecursiveHermite);
345 typedef shared_ptr<RecursiveHermite> RecursiveHermitePtr_t;
346} // namespace pathProjector
347
348 namespace steeringMethod {
349HPP_PREDEF_CLASS(Interpolated);
350 typedef shared_ptr<Interpolated> InterpolatedPtr_t;
351HPP_PREDEF_CLASS(ReedsShepp);
352 typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t;
353HPP_PREDEF_CLASS(Kinodynamic);
354 typedef shared_ptr<Kinodynamic> KinodynamicPtr_t;
355} // namespace steeringMethod
356
357 namespace problemTarget {
358HPP_PREDEF_CLASS(GoalConfigurations);
359HPP_PREDEF_CLASS(TaskTarget);
360 typedef shared_ptr<GoalConfigurations> GoalConfigurationsPtr_t;
361 typedef shared_ptr<TaskTarget> TaskTargetPtr_t;
362} // namespace problemTarget
363
364namespace configurationShooter {
365HPP_PREDEF_CLASS(Uniform);
366 typedef shared_ptr<Uniform> UniformPtr_t;
367HPP_PREDEF_CLASS(Gaussian);
368 typedef shared_ptr<Gaussian> GaussianPtr_t;
369} // namespace configurationShooter
370
373 typedef constraints::Shape_t Shape_t;
374 typedef constraints::JointAndShape_t JointAndShape_t;
375 typedef constraints::JointAndShapes_t JointAndShapes_t;
376
377namespace continuousCollisionChecking = continuousValidation;
378
379} // namespace core
380} // namespace hpp
381
382#endif // HPP_CORE_FWD_HH
hpp::constraints::DifferentiableFunction
hpp::constraints::LockedJoint
hpp::core::BiRRTPlanner
Definition bi-rrt-planner.hh:43
hpp::core::CollisionValidation
Definition collision-validation.hh:47
hpp::core::ConfigProjector
Definition config-projector.hh:66
hpp::core::ConfigValidation
Definition config-validation.hh:46
hpp::core::ConfigValidations
Definition config-validations.hh:45
hpp::core::ConfigurationShooter
Definition configuration-shooter.hh:45
hpp::core::ConnectedComponent
Definition connected-component.hh:43
hpp::core::ConstraintSet
Definition constraint-set.hh:47
hpp::core::Constraint
Definition constraint.hh:49
hpp::core::ContinuousValidation
Definition continuous-validation.hh:97
hpp::core::DiffusingPlanner
Generic implementation of RRT algorithm.
Definition diffusing-planner.hh:41
hpp::core::DistanceBetweenObjects
Computation of distances between pairs of objects.
Definition distance-between-objects.hh:38
hpp::core::Distance
Abstract class for distance between configurations.
Definition distance.hh:45
hpp::core::DubinsPath
Definition dubins-path.hh:56
hpp::core::Edge
Definition edge.hh:46
hpp::core::InterpolatedPath
Definition interpolated-path.hh:52
hpp::core::JointBoundValidationReport
report returned when a configuration is not within the bounds
Definition joint-bound-validation.hh:42
hpp::core::JointBoundValidation
Definition joint-bound-validation.hh:81
hpp::core::KinodynamicDistance
Definition kinodynamic-distance.hh:51
hpp::core::KinodynamicOrientedPath
Definition kinodynamic-oriented-path.hh:42
hpp::core::KinodynamicPath
Definition kinodynamic-path.hh:59
hpp::core::NearestNeighbor
Optimization of the nearest neighbor search.
Definition nearest-neighbor.hh:39
hpp::core::Node
Definition node.hh:46
hpp::core::Parameter
Definition parameter.hh:63
hpp::core::PathOptimizer
Definition path-optimizer.hh:44
hpp::core::PathPlanner
Definition path-planner.hh:45
hpp::core::PathProjector
This class projects a path using constraints.
Definition path-projector.hh:38
hpp::core::PathValidation
Definition path-validation.hh:51
hpp::core::PathValidations
Definition path-validations.hh:46
hpp::core::PathVector
Concatenation of several paths.
Definition path-vector.hh:43
hpp::core::Path
Definition path.hh:71
hpp::core::PlanAndOptimize
Definition plan-and-optimize.hh:46
hpp::core::ProblemSolver
Definition problem-solver.hh:78
hpp::core::ProblemTarget
Definition problem-target.hh:45
hpp::core::Problem
Definition problem.hh:57
hpp::core::Roadmap
Definition roadmap.hh:46
hpp::core::SteeringMethod
Definition steering-method.hh:48
hpp::core::StraightPath
Definition straight-path.hh:52
hpp::core::SubchainPath
Definition subchain-path.hh:44
hpp::core::TimeParameterization
Definition time-parameterization.hh:37
hpp::core::ValidationReport
Definition validation-report.hh:47
hpp::core::VisibilityPrmPlanner
Definition visibility-prm-planner.hh:44
hpp::core::WeighedDistance
Definition weighed-distance.hh:44
hpp::core::configurationShooter::Gaussian
Definition gaussian.hh:45
hpp::core::configurationShooter::Uniform
Uniformly sample with bounds of degrees of freedom.
Definition uniform.hh:44
hpp::core::continuousValidation::BodyPairCollision
Definition body-pair-collision.hh:62
hpp::core::continuousValidation::Dichotomy
Definition dichotomy.hh:53
hpp::core::continuousValidation::IntervalValidation
Definition interval-validation.hh:67
hpp::core::continuousValidation::Progressive
Definition progressive.hh:54
hpp::core::continuousValidation::SolidSolidCollision
Definition solid-solid-collision.hh:55
hpp::core::distance::ReedsShepp
Definition reeds-shepp.hh:46
hpp::core::pathOptimization::ConfigOptimization
Definition config-optimization.hh:71
hpp::core::pathOptimization::Cost
Definition cost.hh:44
hpp::core::pathOptimization::GradientBased
Definition gradient-based.hh:45
hpp::core::pathOptimization::PartialShortcut
Definition partial-shortcut.hh:63
hpp::core::pathOptimization::RSTimeParameterization
Definition rs-time-parameterization.hh:44
hpp::core::pathOptimization::RandomShortcut
Definition random-shortcut.hh:49
hpp::core::pathOptimization::SimpleShortcut
Definition simple-shortcut.hh:48
hpp::core::pathOptimization::SimpleTimeParameterization
Definition simple-time-parameterization.hh:185
hpp::core::pathOptimization::TrapezoidalTimeParameterization
Definition trapezoidal-time-parameterization.hh:51
hpp::core::pathPlanner::kPrmStar
Definition k-prm-star.hh:44
hpp::core::pathProjector::Dichotomy
Definition dichotomy.hh:39
hpp::core::pathProjector::Global
Definition global.hh:41
hpp::core::pathProjector::Progressive
Definition progressive.hh:37
hpp::core::pathProjector::RecursiveHermite
Definition recursive-hermite.hh:42
hpp::core::pathValidation::Discretized
Definition discretized.hh:47
hpp::core::path::Cost
Definition cost.hh:41
hpp::core::path::Hermite
Definition hermite.hh:42
hpp::core::path::Spline
Definition spline.hh:91
hpp::core::path::cost::Length
Length of a path as cost.
Definition cost.hh:49
hpp::core::problemTarget::GoalConfigurations
Definition goal-configurations.hh:46
hpp::core::problemTarget::TaskTarget
Definition task-target.hh:50
hpp::core::steeringMethod::Interpolated
Definition interpolated-steering-method.hh:45
hpp::core::steeringMethod::Kinodynamic
Definition steering-kinodynamic.hh:56
hpp::core::steeringMethod::ReedsShepp
Definition reeds-shepp.hh:47
hpp::pinocchio::Body
hpp::pinocchio::Device
hpp::pinocchio::Joint
hpp::pinocchio::LiegroupElementBase
hpp::pinocchio::LiegroupElementConstBase
hpp::pinocchio::LiegroupSpace
config.hh
deprecated.hh
fwd.hh
hpp
hpp::constraints::LockedJointConstPtr_t
shared_ptr< const LockedJoint > LockedJointConstPtr_t
hpp::constraints::ComparisonTypes_t
std::vector< ComparisonType > ComparisonTypes_t
hpp::constraints::JointAndShapes_t
std::vector< JointAndShape_t > JointAndShapes_t
hpp::constraints::LockedJoints_t
std::vector< LockedJointPtr_t > LockedJoints_t
hpp::constraints::LiegroupSpacePtr_t
pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t
hpp::constraints::DifferentiableFunctionPtr_t
shared_ptr< DifferentiableFunction > DifferentiableFunctionPtr_t
hpp::constraints::segment_t
std::pair< size_type, size_type > segment_t
hpp::constraints::JointAndShape_t
std::pair< JointPtr_t, Shape_t > JointAndShape_t
hpp::constraints::Shape_t
std::vector< vector3_t > Shape_t
hpp::constraints::matrixOut_t
Eigen::Ref< matrix_t > matrixOut_t
hpp::constraints::LockedJointPtr_t
shared_ptr< LockedJoint > LockedJointPtr_t
hpp::constraints::segments_t
std::vector< segment_t > segments_t
hpp::constraints::matrixIn_t
Eigen::Ref< const matrix_t > matrixIn_t
hpp::constraints::NumericalConstraints_t
std::vector< constraints::ImplicitPtr_t > NumericalConstraints_t
hpp::constraints::ComparisonType
ComparisonType
hpp::constraints::matrix6_t
Eigen::Matrix< value_type, 6, 6 > matrix6_t
hpp::core::configurationShooter::GaussianPtr_t
shared_ptr< Gaussian > GaussianPtr_t
Definition fwd.hh:368
hpp::core::configurationShooter::UniformPtr_t
shared_ptr< Uniform > UniformPtr_t
Definition fwd.hh:366
hpp::core::continuousValidation::IntervalValidationPtr_t
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition fwd.hh:269
hpp::core::continuousValidation::BodyPairCollisionPtr_t
shared_ptr< BodyPairCollision > BodyPairCollisionPtr_t
Definition fwd.hh:266
hpp::core::continuousValidation::SolidSolidCollisionPtr_t
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition fwd.hh:272
hpp::core::continuousValidation::IntervalValidations_t
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition fwd.hh:270
hpp::core::continuousValidation::DichotomyPtr_t
shared_ptr< Dichotomy > DichotomyPtr_t
Definition fwd.hh:262
hpp::core::continuousValidation::BodyPairCollisions_t
std::vector< BodyPairCollisionPtr_t > BodyPairCollisions_t
Definition fwd.hh:267
hpp::core::continuousValidation::ProgressivePtr_t
shared_ptr< Progressive > ProgressivePtr_t
Definition fwd.hh:264
hpp::core::distance::ReedsSheppPtr_t
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition fwd.hh:277
hpp::core::nearestNeighbor::KDTreePtr_t
shared_ptr< KDTree > KDTreePtr_t
Definition fwd.hh:285
hpp::core::nearestNeighbor::BasicPtr_t
shared_ptr< Basic > BasicPtr_t
Definition fwd.hh:286
hpp::core::pathOptimization::CostPtr_t
shared_ptr< Cost > CostPtr_t
Definition fwd.hh:295
hpp::core::pathOptimization::SimpleTimeParameterizationPtr_t
shared_ptr< SimpleTimeParameterization > SimpleTimeParameterizationPtr_t
Definition fwd.hh:305
hpp::core::pathOptimization::RSTimeParameterizationPtr_t
shared_ptr< RSTimeParameterization > RSTimeParameterizationPtr_t
Definition fwd.hh:303
hpp::core::pathOptimization::ConfigOptimizationPtr_t
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition fwd.hh:310
hpp::core::pathOptimization::GradientBasedPtr_t
shared_ptr< GradientBased > GradientBasedPtr_t
Definition fwd.hh:297
hpp::core::pathOptimization::PathLengthPtr_t
shared_ptr< PathLength > PathLengthPtr_t
Definition fwd.hh:299
hpp::core::pathOptimization::TrapezoidalTimeParameterizationPtr_t
shared_ptr< TrapezoidalTimeParameterization > TrapezoidalTimeParameterizationPtr_t
Definition fwd.hh:308
hpp::core::pathOptimization::SimpleShortcutPtr_t
shared_ptr< SimpleShortcut > SimpleShortcutPtr_t
Definition fwd.hh:293
hpp::core::pathOptimization::PartialShortcutPtr_t
shared_ptr< PartialShortcut > PartialShortcutPtr_t
Definition fwd.hh:301
hpp::core::pathOptimization::RandomShortcutPtr_t
shared_ptr< RandomShortcut > RandomShortcutPtr_t
Definition fwd.hh:291
hpp::core::pathPlanner::kPrmStarPtr_t
shared_ptr< kPrmStar > kPrmStarPtr_t
Definition fwd.hh:315
hpp::core::pathProjector::ProgressivePtr_t
shared_ptr< Progressive > ProgressivePtr_t
Definition fwd.hh:343
hpp::core::pathProjector::RecursiveHermitePtr_t
shared_ptr< RecursiveHermite > RecursiveHermitePtr_t
Definition fwd.hh:345
hpp::core::pathProjector::GlobalPtr_t
shared_ptr< Global > GlobalPtr_t
Definition fwd.hh:339
hpp::core::pathProjector::DichotomyPtr_t
shared_ptr< Dichotomy > DichotomyPtr_t
Definition fwd.hh:341
hpp::core::pathValidation::DiscretizedPtr_t
shared_ptr< Discretized > DiscretizedPtr_t
Definition fwd.hh:324
hpp::core::path::cost::LengthPtr_t
shared_ptr< Length > LengthPtr_t
Definition fwd.hh:253
hpp::core::path::cost::LengthConstPtr_t
shared_ptr< const Length > LengthConstPtr_t
Definition fwd.hh:254
hpp::core::path::HermiteConstPtr_t
shared_ptr< const Hermite > HermiteConstPtr_t
Definition fwd.hh:247
hpp::core::path::HermitePtr_t
shared_ptr< Hermite > HermitePtr_t
Definition fwd.hh:246
hpp::core::path::CostConstPtr_t
shared_ptr< const Cost > CostConstPtr_t
Definition fwd.hh:250
hpp::core::path::CostPtr_t
shared_ptr< Cost > CostPtr_t
Definition fwd.hh:249
hpp::core::problemTarget::GoalConfigurationsPtr_t
shared_ptr< GoalConfigurations > GoalConfigurationsPtr_t
Definition fwd.hh:360
hpp::core::problemTarget::TaskTargetPtr_t
shared_ptr< TaskTarget > TaskTargetPtr_t
Definition fwd.hh:361
hpp::core::steeringMethod::InterpolatedPtr_t
shared_ptr< Interpolated > InterpolatedPtr_t
Definition fwd.hh:350
hpp::core::steeringMethod::KinodynamicPtr_t
shared_ptr< Kinodynamic > KinodynamicPtr_t
Definition fwd.hh:354
hpp::core::steeringMethod::ReedsSheppPtr_t
shared_ptr< ReedsShepp > ReedsSheppPtr_t
Definition fwd.hh:352
hpp::core::ReedsSheppPathConstPtr_t
shared_ptr< const ReedsSheppPath > ReedsSheppPathConstPtr_t
Definition fwd.hh:203
hpp::core::BiRRTPlannerPtr_t
shared_ptr< BiRRTPlanner > BiRRTPlannerPtr_t
Definition fwd.hh:92
hpp::core::CollisionPairs_t
std::vector< CollisionPair_t > CollisionPairs_t
Definition fwd.hh:239
hpp::core::DeviceWkPtr_t
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition fwd.hh:135
hpp::core::NumericalConstraints_t
constraints::NumericalConstraints_t NumericalConstraints_t
Definition fwd.hh:232
hpp::core::AllCollisionsValidationReportPtr_t
shared_ptr< AllCollisionsValidationReport > AllCollisionsValidationReportPtr_t
Definition fwd.hh:98
hpp::core::TimeParameterizationPtr_t
shared_ptr< TimeParameterization > TimeParameterizationPtr_t
Definition fwd.hh:189
hpp::core::PathVectorConstPtr_t
shared_ptr< const PathVector > PathVectorConstPtr_t
Definition fwd.hh:194
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::ProblemSolverPtr_t
ProblemSolver * ProblemSolverPtr_t
Definition fwd.hh:198
hpp::core::StraightPathPtr_t
shared_ptr< StraightPath > StraightPathPtr_t
Definition fwd.hh:200
hpp::core::ObjectStdVector_t
std::vector< CollisionObjectPtr_t > ObjectStdVector_t
Definition fwd.hh:184
hpp::core::LockedJoints_t
constraints::LockedJoints_t LockedJoints_t
Definition fwd.hh:161
hpp::core::segmentsMap_t
std::map< std::string, segments_t > segmentsMap_t
Definition fwd.hh:231
hpp::core::PathVectorPtr_t
shared_ptr< PathVector > PathVectorPtr_t
Definition fwd.hh:193
hpp::core::LiegroupElementRef
constraints::LiegroupElementRef LiegroupElementRef
Definition fwd.hh:169
hpp::core::PathValidationPtr_t
shared_ptr< PathValidation > PathValidationPtr_t
Definition fwd.hh:320
hpp::core::DistancePtr_t
shared_ptr< Distance > DistancePtr_t
Definition fwd.hh:141
hpp::core::vector3_t
pinocchio::vector3_t vector3_t
Definition fwd.hh:165
hpp::core::ReedsSheppPathPtr_t
shared_ptr< ReedsSheppPath > ReedsSheppPathPtr_t
Definition fwd.hh:202
hpp::core::PathVectors_t
std::vector< PathVectorPtr_t > PathVectors_t
Definition fwd.hh:215
hpp::core::JointAndShapes_t
constraints::JointAndShapes_t JointAndShapes_t
Definition fwd.hh:375
hpp::core::LockedJointConstPtr_t
constraints::LockedJointConstPtr_t LockedJointConstPtr_t
Definition fwd.hh:160
hpp::core::PathOptimizerPtr_t
shared_ptr< PathOptimizer > PathOptimizerPtr_t
Definition fwd.hh:190
hpp::core::InterpolatedPathPtr_t
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition fwd.hh:211
hpp::core::CollisionObjectPtr_t
pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t
Definition fwd.hh:99
hpp::core::ContinuousValidationPtr_t
shared_ptr< ContinuousValidation > ContinuousValidationPtr_t
Definition fwd.hh:259
hpp::core::JointVector_t
pinocchio::JointVector_t JointVector_t
Definition fwd.hh:156
hpp::core::HalfJointJacobian_t
pinocchio::HalfJointJacobian_t HalfJointJacobian_t
Definition fwd.hh:155
hpp::core::NodeVector_t
std::vector< NodePtr_t > NodeVector_t
Definition fwd.hh:182
hpp::core::Transform3s
pinocchio::Transform3s Transform3s
Definition fwd.hh:217
hpp::core::Device_t
pinocchio::Device Device_t
Definition fwd.hh:133
hpp::core::ConstraintPtr_t
shared_ptr< Constraint > ConstraintPtr_t
Definition fwd.hh:129
hpp::core::ConnectedComponents_t
std::set< ConnectedComponentPtr_t, SharedComparator > ConnectedComponents_t
Definition fwd.hh:127
hpp::core::JointBoundValidationReportPtr_t
shared_ptr< JointBoundValidationReport > JointBoundValidationReportPtr_t
Definition fwd.hh:154
hpp::core::PlanAndOptimizePtr_t
shared_ptr< PlanAndOptimize > PlanAndOptimizePtr_t
Definition fwd.hh:195
hpp::core::JointBoundValidationPtr_t
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition fwd.hh:153
hpp::core::SubchainPathPtr_t
shared_ptr< SubchainPath > SubchainPathPtr_t
Definition fwd.hh:147
hpp::core::PathPlannerPtr_t
shared_ptr< PathPlanner > PathPlannerPtr_t
Definition fwd.hh:191
hpp::core::LiegroupElementConstRef
pinocchio::LiegroupElementConstRef LiegroupElementConstRef
Definition fwd.hh:170
hpp::core::CollisionPair_t
CollisionPair CollisionPair_t
Definition fwd.hh:238
hpp::core::FclCollisionObjectPtr_t
FclCollisionObject * FclCollisionObjectPtr_t
Definition fwd.hh:103
hpp::core::rowvector_t
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition fwd.hh:223
hpp::core::LockedJoint
constraints::LockedJoint LockedJoint
Definition fwd.hh:158
hpp::core::ConfigurationShooterPtr_t
shared_ptr< ConfigurationShooter > ConfigurationShooterPtr_t
Definition fwd.hh:113
hpp::core::FclCollisionObjectSharePtr_t
shared_ptr< FclCollisionObject > FclCollisionObjectSharePtr_t
Definition fwd.hh:105
hpp::core::DubinsPathConstPtr_t
shared_ptr< const DubinsPath > DubinsPathConstPtr_t
Definition fwd.hh:205
hpp::core::EdgePtr_t
Edge * EdgePtr_t
Definition fwd.hh:144
hpp::core::segments_t
constraints::segments_t segments_t
Definition fwd.hh:179
hpp::core::FclConstCollisionObjectPtr_t
const FclCollisionObject * FclConstCollisionObjectPtr_t
Definition fwd.hh:104
hpp::core::DubinsPathPtr_t
shared_ptr< DubinsPath > DubinsPathPtr_t
Definition fwd.hh:204
hpp::core::Body
hpp::pinocchio::Body Body
Definition fwd.hh:93
hpp::core::vectorIn_t
pinocchio::vectorIn_t vectorIn_t
Definition fwd.hh:221
hpp::core::PathProjectorPtr_t
shared_ptr< PathProjector > PathProjectorPtr_t
Definition fwd.hh:336
hpp::core::JointConstPtr_t
pinocchio::JointConstPtr_t JointConstPtr_t
Definition fwd.hh:150
hpp::core::ProblemTargetPtr_t
shared_ptr< ProblemTarget > ProblemTargetPtr_t
Definition fwd.hh:192
hpp::core::Edges_t
std::list< Edge * > Edges_t
Definition fwd.hh:145
hpp::core::KinodynamicOrientedPathConstPtr_t
shared_ptr< const KinodynamicOrientedPath > KinodynamicOrientedPathConstPtr_t
Definition fwd.hh:210
hpp::core::JointAndShape_t
constraints::JointAndShape_t JointAndShape_t
Definition fwd.hh:374
hpp::core::WeighedDistancePtr_t
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition fwd.hh:226
hpp::core::RoadmapPtr_t
shared_ptr< Roadmap > RoadmapPtr_t
Definition fwd.hh:199
hpp::core::ConfigValidationsPtr_t
shared_ptr< ConfigValidations > ConfigValidationsPtr_t
Definition fwd.hh:116
hpp::core::DiffusingPlannerPtr_t
shared_ptr< DiffusingPlanner > DiffusingPlannerPtr_t
Definition fwd.hh:140
hpp::core::ConfigIterator_t
Configurations_t::iterator ConfigIterator_t
Definition fwd.hh:111
hpp::core::ConstObjectStdVector_t
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition fwd.hh:185
hpp::core::ProblemPtr_t
shared_ptr< Problem > ProblemPtr_t
Definition fwd.hh:196
hpp::core::vectorOut_t
pinocchio::vectorOut_t vectorOut_t
Definition fwd.hh:222
hpp::core::SteeringMethodPtr_t
shared_ptr< SteeringMethod > SteeringMethodPtr_t
Definition fwd.hh:213
hpp::core::BlockIndex
Eigen::BlockIndex BlockIndex
Interval of indices as (first index, number of indices)
Definition fwd.hh:177
hpp::core::KinodynamicPathConstPtr_t
shared_ptr< const KinodynamicPath > KinodynamicPathConstPtr_t
Definition fwd.hh:207
hpp::core::NearestNeighborPtr_t
shared_ptr< NearestNeighbor > NearestNeighborPtr_t
Definition fwd.hh:281
hpp::core::ObjectVector_t
pinocchio::ObjectVector_t ObjectVector_t
Definition fwd.hh:183
hpp::core::ComparisonTypeMap_t
std::map< std::string, ComparisonTypes_t > ComparisonTypeMap_t
Definition fwd.hh:230
hpp::core::KDTreePtr_t
KDTree * KDTreePtr_t
Definition fwd.hh:157
hpp::core::ConfigurationOut_t
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition fwd.hh:109
hpp::core::vector_t
pinocchio::vector_t vector_t
Definition fwd.hh:220
hpp::core::segment_t
constraints::segment_t segment_t
Definition fwd.hh:178
hpp::core::JointPtr_t
pinocchio::JointPtr_t JointPtr_t
Definition fwd.hh:151
hpp::core::ConfigConstIterator_t
Configurations_t::const_iterator ConfigConstIterator_t
Definition fwd.hh:112
hpp::core::LiegroupSpacePtr_t
constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t
Definition fwd.hh:172
hpp::core::InterpolatedPathConstPtr_t
shared_ptr< const InterpolatedPath > InterpolatedPathConstPtr_t
Definition fwd.hh:212
hpp::core::NumericalConstraintMap_t
std::map< std::string, constraints::ImplicitPtr_t > NumericalConstraintMap_t
Definition fwd.hh:229
hpp::core::BodyPtr_t
hpp::pinocchio::BodyPtr_t BodyPtr_t
Definition fwd.hh:94
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::CenterOfMassComputationPtr_t
pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t
Definition fwd.hh:136
hpp::core::FclCollisionObject
pinocchio::FclCollisionObject FclCollisionObject
Definition fwd.hh:102
hpp::core::JointJacobian_t
pinocchio::JointJacobian_t JointJacobian_t
Definition fwd.hh:148
hpp::core::KinodynamicPathPtr_t
shared_ptr< KinodynamicPath > KinodynamicPathPtr_t
Definition fwd.hh:206
hpp::core::PathValidationsPtr_t
shared_ptr< PathValidations > PathValidationsPtr_t
Definition fwd.hh:321
hpp::core::Constraints_t
std::vector< ConstraintPtr_t > Constraints_t
Definition fwd.hh:132
hpp::core::interval_t
std::pair< value_type, value_type > interval_t
Definition fwd.hh:175
hpp::core::CollisionPathValidationReports_t
std::vector< CollisionPathValidationReport > CollisionPathValidationReports_t
Definition fwd.hh:333
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
hpp::core::NodePtr_t
Node * NodePtr_t
Definition fwd.hh:180
hpp::core::CollisionValidationPtr_t
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition fwd.hh:95
hpp::core::vector2_t
Eigen::Matrix< value_type, 2, 1 > vector2_t
Definition fwd.hh:219
hpp::core::CollisionPathValidationReportPtr_t
shared_ptr< CollisionPathValidationReport > CollisionPathValidationReportPtr_t
Definition fwd.hh:331
hpp::core::Devices_t
std::deque< DevicePtr_t > Devices_t
Definition fwd.hh:137
hpp::core::ComparisonType
constraints::ComparisonType ComparisonType
Definition fwd.hh:90
hpp::core::Shape_t
constraints::Shape_t Shape_t
Definition fwd.hh:373
hpp::core::LiegroupElement
constraints::LiegroupElement LiegroupElement
Definition fwd.hh:168
hpp::core::VisibilityPrmPlannerPtr_t
shared_ptr< VisibilityPrmPlanner > VisibilityPrmPlannerPtr_t
Definition fwd.hh:224
hpp::core::ConfigProjectorPtr_t
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition fwd.hh:114
hpp::core::ValidationReportPtr_t
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition fwd.hh:225
hpp::core::DifferentiableFunction
constraints::DifferentiableFunction DifferentiableFunction
Definition fwd.hh:138
hpp::core::ProblemConstPtr_t
shared_ptr< const Problem > ProblemConstPtr_t
Definition fwd.hh:197
hpp::core::ExtractedPathPtr_t
shared_ptr< ExtractedPath > ExtractedPathPtr_t
Definition fwd.hh:146
hpp::core::Nodes_t
std::list< NodePtr_t > Nodes_t
Definition fwd.hh:181
hpp::core::StraightPathConstPtr_t
shared_ptr< const StraightPath > StraightPathConstPtr_t
Definition fwd.hh:201
hpp::core::LockedJointPtr_t
constraints::LockedJointPtr_t LockedJointPtr_t
Definition fwd.hh:159
hpp::core::DifferentiableFunctionPtr_t
constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t
Definition fwd.hh:139
hpp::core::CenterOfMassComputationMap_t
std::map< std::string, CenterOfMassComputationPtr_t > CenterOfMassComputationMap_t
Definition fwd.hh:234
hpp::core::CollisionGeometryPtr_t
pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t
Definition fwd.hh:101
hpp::core::ConfigValidationPtr_t
shared_ptr< ConfigValidation > ConfigValidationPtr_t
Definition fwd.hh:115
hpp::core::ConnectedComponentPtr_t
shared_ptr< ConnectedComponent > ConnectedComponentPtr_t
Definition fwd.hh:117
hpp::core::Paths_t
std::vector< PathPtr_t > Paths_t
Definition fwd.hh:214
hpp::core::DistanceBetweenObjectsPtr_t
shared_ptr< DistanceBetweenObjects > DistanceBetweenObjectsPtr_t
Definition fwd.hh:142
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::core::KinodynamicOrientedPathPtr_t
shared_ptr< KinodynamicOrientedPath > KinodynamicOrientedPathPtr_t
Definition fwd.hh:208
hpp::core::PathConstPtr_t
shared_ptr< const Path > PathConstPtr_t
Definition fwd.hh:188
hpp::core::ComparisonTypes_t
constraints::ComparisonTypes_t ComparisonTypes_t
Definition fwd.hh:89
hpp::core::Joint
pinocchio::Joint Joint
Definition fwd.hh:149
hpp::core::matrixOut_t
constraints::matrixOut_t matrixOut_t
Definition fwd.hh:167
hpp::core::Configurations_t
std::vector< Configuration_t > Configurations_t
Definition fwd.hh:110
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
hpp::core::KinodynamicDistancePtr_t
shared_ptr< KinodynamicDistance > KinodynamicDistancePtr_t
Definition fwd.hh:227
hpp::core::matrix3_t
pinocchio::matrix3_t matrix3_t
Definition fwd.hh:163
hpp::core::ConstraintSetConstPtr_t
shared_ptr< const ConstraintSet > ConstraintSetConstPtr_t
Definition fwd.hh:131
hpp::core::CollisionValidationReportPtr_t
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition fwd.hh:96
hpp::core::LiegroupSpace
constraints::LiegroupSpace LiegroupSpace
Definition fwd.hh:171
hpp::core::matrix6_t
constraints::matrix6_t matrix6_t
Definition fwd.hh:164
hpp::core::matrixIn_t
constraints::matrixIn_t matrixIn_t
Definition fwd.hh:166
hpp::core::ConstraintSetPtr_t
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition fwd.hh:130
hpp::core::DistanceResults_t
pinocchio::DistanceResults_t DistanceResults_t
Definition fwd.hh:143
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
hpp::core::PathValidationReportPtr_t
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition fwd.hh:329
hpp::core::CollisionObjectConstPtr_t
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition fwd.hh:100
hpp::core::matrix_t
pinocchio::matrix_t matrix_t
Definition fwd.hh:162
hpp::pinocchio::HalfJointJacobian_t
Eigen::Block< JointJacobian_t, 3, Eigen::Dynamic > HalfJointJacobian_t
hpp::pinocchio::DevicePtr_t
shared_ptr< Device > DevicePtr_t
hpp::pinocchio::CollisionGeometryPtr_t
shared_ptr< CollisionGeometry > CollisionGeometryPtr_t
hpp::pinocchio::CenterOfMassComputationPtr_t
shared_ptr< CenterOfMassComputation > CenterOfMassComputationPtr_t
hpp::pinocchio::CollisionObjectConstPtr_t
shared_ptr< const CollisionObject > CollisionObjectConstPtr_t
hpp::pinocchio::JointPtr_t
shared_ptr< Joint > JointPtr_t
hpp::pinocchio::ObjectVector_t
ObjectVector ObjectVector_t
hpp::pinocchio::FclCollisionObject
coal::CollisionObject FclCollisionObject
hpp::pinocchio::vector_t
Eigen::Matrix< value_type, Eigen::Dynamic, 1 > vector_t
hpp::pinocchio::vectorOut_t
Eigen::Ref< vector_t > vectorOut_t
hpp::pinocchio::vector3_t
Eigen::Matrix< value_type, 3, 1 > vector3_t
hpp::pinocchio::matrix_t
Eigen::Matrix< value_type, Eigen::Dynamic, Eigen::Dynamic > matrix_t
hpp::pinocchio::size_type
matrix_t::Index size_type
hpp::pinocchio::JointJacobian_t
Eigen::Matrix< value_type, 6, Eigen::Dynamic > JointJacobian_t
hpp::pinocchio::BodyPtr_t
shared_ptr< Body > BodyPtr_t
hpp::pinocchio::Transform3s
::pinocchio::SE3 Transform3s
hpp::pinocchio::ConfigurationOut_t
Eigen::Ref< Configuration_t > ConfigurationOut_t
hpp::pinocchio::value_type
double value_type
hpp::pinocchio::Configuration_t
vector_t Configuration_t
hpp::pinocchio::matrix3_t
Eigen::Matrix< value_type, 3, 3 > matrix3_t
hpp::pinocchio::JointConstPtr_t
shared_ptr< const Joint > JointConstPtr_t
hpp::pinocchio::JointVector_t
JointVector JointVector_t
hpp::pinocchio::vectorIn_t
Eigen::Ref< const vector_t > vectorIn_t
hpp::pinocchio::DistanceResults_t
std::vector< coal::DistanceResult > DistanceResults_t
hpp::pinocchio::CollisionObjectPtr_t
shared_ptr< CollisionObject > CollisionObjectPtr_t
hpp::pinocchio::ConfigurationIn_t
Eigen::Ref< const Configuration_t > ConfigurationIn_t
pointer.hh
Eigen::BlockIndex
hpp::core::AllCollisionsValidationReport
Definition collision-validation-report.hh:84
hpp::core::CollisionPair
Definition collision-pair.hh:45
hpp::core::CollisionPathValidationReport
Path validation report used for standard collision checking.
Definition collision-path-validation-report.hh:43
hpp::core::CollisionValidationReport
Definition collision-validation-report.hh:47
hpp::core::PathValidationReport
Definition path-validation-report.hh:45
hpp::core::SharedComparator
Definition fwd.hh:119
hpp::core::SharedComparator::operator()
bool operator()(const std::shared_ptr< T > &lhs, const std::shared_ptr< T > &rhs) const
Definition fwd.hh:121