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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux, Joseph Mirabel |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_FWD_HH |
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#define HPP_CORE_FWD_HH |
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#include <deque> |
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#include <hpp/constraints/fwd.hh> |
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#include <hpp/core/config.hh> |
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#include <hpp/core/deprecated.hh> |
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#include <hpp/util/pointer.hh> |
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#include <list> |
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#include <map> |
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#include <set> |
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#include <vector> |
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namespace hpp { |
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namespace core { |
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HPP_PREDEF_CLASS(BiRRTPlanner); |
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HPP_PREDEF_CLASS(CollisionValidation); |
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HPP_PREDEF_CLASS(CollisionValidationReport); |
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HPP_PREDEF_CLASS(AllCollisionsValidationReport); |
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HPP_PREDEF_CLASS(ConfigurationShooter); |
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HPP_PREDEF_CLASS(ConfigProjector); |
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HPP_PREDEF_CLASS(ConfigValidation); |
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HPP_PREDEF_CLASS(ConfigValidations); |
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HPP_PREDEF_CLASS(ConnectedComponent); |
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HPP_PREDEF_CLASS(Constraint); |
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HPP_PREDEF_CLASS(ConstraintSet); |
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HPP_PREDEF_CLASS(DiffusingPlanner); |
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HPP_PREDEF_CLASS(Distance); |
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HPP_PREDEF_CLASS(DistanceBetweenObjects); |
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class Edge; |
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HPP_PREDEF_CLASS(ExtractedPath); |
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HPP_PREDEF_CLASS(SubchainPath); |
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HPP_PREDEF_CLASS(JointBoundValidation); |
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struct JointBoundValidationReport; |
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class Node; |
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HPP_PREDEF_CLASS(Path); |
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HPP_PREDEF_CLASS(TimeParameterization); |
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HPP_PREDEF_CLASS(PathOptimizer); |
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HPP_PREDEF_CLASS(PathPlanner); |
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class Parameter; |
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HPP_PREDEF_CLASS(ProblemTarget); |
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HPP_PREDEF_CLASS(PathVector); |
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HPP_PREDEF_CLASS(PlanAndOptimize); |
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HPP_PREDEF_CLASS(Problem); |
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class ProblemSolver; |
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HPP_PREDEF_CLASS(Roadmap); |
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HPP_PREDEF_CLASS(SteeringMethod); |
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HPP_PREDEF_CLASS(StraightPath); |
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HPP_PREDEF_CLASS(InterpolatedPath); |
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HPP_PREDEF_CLASS(DubinsPath); |
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HPP_PREDEF_CLASS(ReedsSheppPath); |
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HPP_PREDEF_CLASS(KinodynamicPath); |
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HPP_PREDEF_CLASS(KinodynamicOrientedPath); |
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HPP_PREDEF_CLASS(ValidationReport); |
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HPP_PREDEF_CLASS(VisibilityPrmPlanner); |
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HPP_PREDEF_CLASS(WeighedDistance); |
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HPP_PREDEF_CLASS(KinodynamicDistance); |
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class KDTree; |
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typedef constraints::ComparisonTypes_t ComparisonTypes_t; |
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typedef constraints::ComparisonType ComparisonType; |
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typedef shared_ptr<BiRRTPlanner> BiRRTPlannerPtr_t; |
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typedef hpp::pinocchio::Body Body; |
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typedef hpp::pinocchio::BodyPtr_t BodyPtr_t; |
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typedef shared_ptr<CollisionValidation> CollisionValidationPtr_t; |
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typedef shared_ptr<CollisionValidationReport> CollisionValidationReportPtr_t; |
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typedef shared_ptr<AllCollisionsValidationReport> |
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AllCollisionsValidationReportPtr_t; |
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typedef pinocchio::CollisionObjectPtr_t CollisionObjectPtr_t; |
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typedef pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t; |
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typedef pinocchio::CollisionGeometryPtr_t CollisionGeometryPtr_t; |
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typedef pinocchio::FclCollisionObject FclCollisionObject; |
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typedef FclCollisionObject* FclCollisionObjectPtr_t; |
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typedef const FclCollisionObject* FclConstCollisionObjectPtr_t; |
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typedef shared_ptr<FclCollisionObject> FclCollisionObjectSharePtr_t; |
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typedef pinocchio::Configuration_t Configuration_t; |
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typedef pinocchio::ConfigurationIn_t ConfigurationIn_t; |
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typedef pinocchio::ConfigurationOut_t ConfigurationOut_t; |
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typedef std::vector<Configuration_t> Configurations_t; |
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typedef Configurations_t::iterator ConfigIterator_t; |
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typedef Configurations_t::const_iterator ConfigConstIterator_t; |
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typedef shared_ptr<ConfigurationShooter> ConfigurationShooterPtr_t; |
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typedef shared_ptr<ConfigProjector> ConfigProjectorPtr_t; |
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typedef shared_ptr<ConfigValidation> ConfigValidationPtr_t; |
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typedef shared_ptr<ConfigValidations> ConfigValidationsPtr_t; |
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typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t; |
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struct SharedComparator { |
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template <typename T> |
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bool operator()(const std::shared_ptr<T>& lhs, |
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const std::shared_ptr<T>& rhs) const { |
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return (*lhs) < (*rhs); |
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} |
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}; |
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typedef std::set<ConnectedComponentPtr_t, SharedComparator> |
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ConnectedComponents_t; |
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typedef shared_ptr<Constraint> ConstraintPtr_t; |
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typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t; |
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typedef shared_ptr<const ConstraintSet> ConstraintSetConstPtr_t; |
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typedef std::vector<ConstraintPtr_t> Constraints_t; |
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typedef pinocchio::Device Device_t; |
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typedef pinocchio::DevicePtr_t DevicePtr_t; |
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typedef pinocchio::DeviceWkPtr_t DeviceWkPtr_t; |
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typedef pinocchio::CenterOfMassComputationPtr_t CenterOfMassComputationPtr_t; |
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typedef std::deque<DevicePtr_t> Devices_t; |
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typedef constraints::DifferentiableFunction DifferentiableFunction; |
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typedef constraints::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t; |
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typedef shared_ptr<DiffusingPlanner> DiffusingPlannerPtr_t; |
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typedef shared_ptr<Distance> DistancePtr_t; |
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typedef shared_ptr<DistanceBetweenObjects> DistanceBetweenObjectsPtr_t; |
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typedef pinocchio::DistanceResults_t DistanceResults_t; |
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typedef Edge* EdgePtr_t; |
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typedef std::list<Edge*> Edges_t; |
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typedef shared_ptr<ExtractedPath> ExtractedPathPtr_t; |
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typedef shared_ptr<SubchainPath> SubchainPathPtr_t; |
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typedef pinocchio::JointJacobian_t JointJacobian_t; |
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typedef pinocchio::Joint Joint; |
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typedef pinocchio::JointConstPtr_t JointConstPtr_t; |
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typedef pinocchio::JointPtr_t JointPtr_t; |
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typedef pinocchio::JointConstPtr_t JointConstPtr_t; |
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typedef shared_ptr<JointBoundValidation> JointBoundValidationPtr_t; |
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typedef shared_ptr<JointBoundValidationReport> JointBoundValidationReportPtr_t; |
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typedef pinocchio::HalfJointJacobian_t HalfJointJacobian_t; |
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typedef pinocchio::JointVector_t JointVector_t; |
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typedef KDTree* KDTreePtr_t; |
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typedef constraints::LockedJoint LockedJoint; |
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typedef constraints::LockedJointPtr_t LockedJointPtr_t; |
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typedef constraints::LockedJointConstPtr_t LockedJointConstPtr_t; |
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typedef constraints::LockedJoints_t LockedJoints_t; |
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typedef pinocchio::matrix_t matrix_t; |
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typedef pinocchio::matrix3_t matrix3_t; |
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typedef constraints::matrix6_t matrix6_t; |
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typedef pinocchio::vector3_t vector3_t; |
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typedef constraints::matrixIn_t matrixIn_t; |
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typedef constraints::matrixOut_t matrixOut_t; |
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typedef constraints::LiegroupElement LiegroupElement; |
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typedef constraints::LiegroupElementRef LiegroupElementRef; |
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typedef pinocchio::LiegroupElementConstRef LiegroupElementConstRef; |
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typedef constraints::LiegroupSpace LiegroupSpace; |
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typedef constraints::LiegroupSpacePtr_t LiegroupSpacePtr_t; |
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typedef pinocchio::size_type size_type; |
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typedef pinocchio::value_type value_type; |
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typedef std::pair<value_type, value_type> interval_t; |
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/// Interval of indices as (first index, number of indices) |
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typedef Eigen::BlockIndex BlockIndex; |
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typedef constraints::segment_t segment_t; |
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typedef constraints::segments_t segments_t; |
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typedef Node* NodePtr_t; |
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typedef std::list<NodePtr_t> Nodes_t; |
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typedef std::vector<NodePtr_t> NodeVector_t; |
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typedef pinocchio::ObjectVector_t ObjectVector_t; |
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typedef std::vector<CollisionObjectPtr_t> ObjectStdVector_t; |
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typedef std::vector<CollisionObjectConstPtr_t> ConstObjectStdVector_t; |
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typedef shared_ptr<Path> PathPtr_t; |
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typedef shared_ptr<const Path> PathConstPtr_t; |
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typedef shared_ptr<TimeParameterization> TimeParameterizationPtr_t; |
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typedef shared_ptr<PathOptimizer> PathOptimizerPtr_t; |
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typedef shared_ptr<PathPlanner> PathPlannerPtr_t; |
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typedef shared_ptr<ProblemTarget> ProblemTargetPtr_t; |
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typedef shared_ptr<PathVector> PathVectorPtr_t; |
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typedef shared_ptr<const PathVector> PathVectorConstPtr_t; |
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typedef shared_ptr<PlanAndOptimize> PlanAndOptimizePtr_t; |
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typedef shared_ptr<Problem> ProblemPtr_t; |
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typedef shared_ptr<const Problem> ProblemConstPtr_t; |
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typedef ProblemSolver* ProblemSolverPtr_t; |
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typedef shared_ptr<Roadmap> RoadmapPtr_t; |
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typedef shared_ptr<StraightPath> StraightPathPtr_t; |
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typedef shared_ptr<const StraightPath> StraightPathConstPtr_t; |
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typedef shared_ptr<ReedsSheppPath> ReedsSheppPathPtr_t; |
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typedef shared_ptr<const ReedsSheppPath> ReedsSheppPathConstPtr_t; |
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typedef shared_ptr<DubinsPath> DubinsPathPtr_t; |
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typedef shared_ptr<const DubinsPath> DubinsPathConstPtr_t; |
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typedef shared_ptr<KinodynamicPath> KinodynamicPathPtr_t; |
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typedef shared_ptr<const KinodynamicPath> KinodynamicPathConstPtr_t; |
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typedef shared_ptr<KinodynamicOrientedPath> KinodynamicOrientedPathPtr_t; |
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typedef shared_ptr<const KinodynamicOrientedPath> |
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KinodynamicOrientedPathConstPtr_t; |
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typedef shared_ptr<InterpolatedPath> InterpolatedPathPtr_t; |
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typedef shared_ptr<const InterpolatedPath> InterpolatedPathConstPtr_t; |
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typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t; |
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typedef std::vector<PathPtr_t> Paths_t; |
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typedef std::vector<PathVectorPtr_t> PathVectors_t; |
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typedef std::vector<PathVectorPtr_t> PathVectors_t; |
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typedef pinocchio::Transform3s Transform3s; |
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typedef pinocchio::vector3_t vector3_t; |
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typedef Eigen::Matrix<value_type, 2, 1> vector2_t; |
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typedef pinocchio::vector_t vector_t; |
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typedef pinocchio::vectorIn_t vectorIn_t; |
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typedef pinocchio::vectorOut_t vectorOut_t; |
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typedef Eigen::Matrix<value_type, 1, Eigen::Dynamic> rowvector_t; |
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typedef shared_ptr<VisibilityPrmPlanner> VisibilityPrmPlannerPtr_t; |
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typedef shared_ptr<ValidationReport> ValidationReportPtr_t; |
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typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t; |
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typedef shared_ptr<KinodynamicDistance> KinodynamicDistancePtr_t; |
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typedef std::map<std::string, constraints::ImplicitPtr_t> |
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NumericalConstraintMap_t; |
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typedef std::map<std::string, ComparisonTypes_t> ComparisonTypeMap_t; |
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typedef std::map<std::string, segments_t> segmentsMap_t; |
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typedef constraints::NumericalConstraints_t NumericalConstraints_t; |
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typedef std::map<std::string, CenterOfMassComputationPtr_t> |
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CenterOfMassComputationMap_t; |
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// Collision pairs |
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struct CollisionPair; |
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typedef CollisionPair CollisionPair_t; // For backward compatibility. |
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typedef std::vector<CollisionPair_t> CollisionPairs_t; |
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class ExtractedPath; |
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namespace path { |
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template <int _PolynomeBasis, int _Order> |
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class Spline; |
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HPP_PREDEF_CLASS(Hermite); |
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typedef shared_ptr<Hermite> HermitePtr_t; |
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typedef shared_ptr<const Hermite> HermiteConstPtr_t; |
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} // namespace path |
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HPP_PREDEF_CLASS(ContinuousValidation); |
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typedef shared_ptr<ContinuousValidation> ContinuousValidationPtr_t; |
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namespace continuousValidation { |
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HPP_PREDEF_CLASS(Dichotomy); |
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typedef shared_ptr<Dichotomy> DichotomyPtr_t; |
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HPP_PREDEF_CLASS(Progressive); |
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typedef shared_ptr<Progressive> ProgressivePtr_t; |
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HPP_PREDEF_CLASS(BodyPairCollision); |
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typedef shared_ptr<BodyPairCollision> BodyPairCollisionPtr_t; |
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typedef std::vector<BodyPairCollisionPtr_t> BodyPairCollisions_t; |
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HPP_PREDEF_CLASS(IntervalValidation); |
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typedef shared_ptr<IntervalValidation> IntervalValidationPtr_t; |
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typedef std::vector<IntervalValidationPtr_t> IntervalValidations_t; |
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HPP_PREDEF_CLASS(SolidSolidCollision); |
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typedef shared_ptr<SolidSolidCollision> SolidSolidCollisionPtr_t; |
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} // namespace continuousValidation |
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namespace distance { |
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HPP_PREDEF_CLASS(ReedsShepp); |
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typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t; |
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} // namespace distance |
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class NearestNeighbor; |
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typedef NearestNeighbor* NearestNeighborPtr_t; |
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namespace nearestNeighbor { |
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class Basic; |
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class KDTree; |
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typedef KDTree* KDTreePtr_t; |
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typedef Basic* BasicPtr_t; |
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} // namespace nearestNeighbor |
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namespace pathOptimization { |
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HPP_PREDEF_CLASS(RandomShortcut); |
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typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t; |
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HPP_PREDEF_CLASS(SimpleShortcut); |
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typedef shared_ptr<SimpleShortcut> SimpleShortcutPtr_t; |
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HPP_PREDEF_CLASS(Cost); |
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typedef shared_ptr<Cost> CostPtr_t; |
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HPP_PREDEF_CLASS(GradientBased); |
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typedef shared_ptr<GradientBased> GradientBasedPtr_t; |
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HPP_PREDEF_CLASS(PathLength); |
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typedef shared_ptr<PathLength> PathLengthPtr_t; |
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HPP_PREDEF_CLASS(PartialShortcut); |
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typedef shared_ptr<PartialShortcut> PartialShortcutPtr_t; |
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HPP_PREDEF_CLASS(RSTimeParameterization); |
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typedef shared_ptr<RSTimeParameterization> RSTimeParameterizationPtr_t; |
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HPP_PREDEF_CLASS(SimpleTimeParameterization); |
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typedef shared_ptr<SimpleTimeParameterization> SimpleTimeParameterizationPtr_t; |
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HPP_PREDEF_CLASS(ConfigOptimization); |
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typedef shared_ptr<ConfigOptimization> ConfigOptimizationPtr_t; |
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} // namespace pathOptimization |
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namespace pathPlanner { |
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HPP_PREDEF_CLASS(kPrmStar); |
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typedef shared_ptr<kPrmStar> kPrmStarPtr_t; |
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} // namespace pathPlanner |
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HPP_PREDEF_CLASS(PathValidations); |
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HPP_PREDEF_CLASS(PathValidation); |
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typedef shared_ptr<PathValidation> PathValidationPtr_t; |
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typedef shared_ptr<PathValidations> PathValidationsPtr_t; |
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namespace pathValidation { |
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HPP_PREDEF_CLASS(Discretized); |
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typedef shared_ptr<Discretized> DiscretizedPtr_t; |
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} // namespace pathValidation |
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// Path validation reports |
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struct PathValidationReport; |
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struct CollisionPathValidationReport; |
| 318 |
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typedef shared_ptr<PathValidationReport> PathValidationReportPtr_t; |
| 319 |
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typedef shared_ptr<CollisionPathValidationReport> |
| 320 |
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CollisionPathValidationReportPtr_t; |
| 321 |
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typedef std::vector<CollisionPathValidationReport> |
| 322 |
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CollisionPathValidationReports_t; |
| 323 |
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| 324 |
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HPP_PREDEF_CLASS(PathProjector); |
| 325 |
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typedef shared_ptr<PathProjector> PathProjectorPtr_t; |
| 326 |
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namespace pathProjector { |
| 327 |
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HPP_PREDEF_CLASS(Global); |
| 328 |
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typedef shared_ptr<Global> GlobalPtr_t; |
| 329 |
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HPP_PREDEF_CLASS(Dichotomy); |
| 330 |
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typedef shared_ptr<Dichotomy> DichotomyPtr_t; |
| 331 |
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HPP_PREDEF_CLASS(Progressive); |
| 332 |
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typedef shared_ptr<Progressive> ProgressivePtr_t; |
| 333 |
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HPP_PREDEF_CLASS(RecursiveHermite); |
| 334 |
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typedef shared_ptr<RecursiveHermite> RecursiveHermitePtr_t; |
| 335 |
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} // namespace pathProjector |
| 336 |
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| 337 |
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namespace steeringMethod { |
| 338 |
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HPP_PREDEF_CLASS(Interpolated); |
| 339 |
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typedef shared_ptr<Interpolated> InterpolatedPtr_t; |
| 340 |
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HPP_PREDEF_CLASS(ReedsShepp); |
| 341 |
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typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t; |
| 342 |
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HPP_PREDEF_CLASS(Kinodynamic); |
| 343 |
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typedef shared_ptr<Kinodynamic> KinodynamicPtr_t; |
| 344 |
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} // namespace steeringMethod |
| 345 |
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| 346 |
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namespace problemTarget { |
| 347 |
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HPP_PREDEF_CLASS(GoalConfigurations); |
| 348 |
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HPP_PREDEF_CLASS(TaskTarget); |
| 349 |
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typedef shared_ptr<GoalConfigurations> GoalConfigurationsPtr_t; |
| 350 |
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typedef shared_ptr<TaskTarget> TaskTargetPtr_t; |
| 351 |
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} // namespace problemTarget |
| 352 |
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| 353 |
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namespace configurationShooter { |
| 354 |
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HPP_PREDEF_CLASS(Uniform); |
| 355 |
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typedef shared_ptr<Uniform> UniformPtr_t; |
| 356 |
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HPP_PREDEF_CLASS(Gaussian); |
| 357 |
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typedef shared_ptr<Gaussian> GaussianPtr_t; |
| 358 |
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} // namespace configurationShooter |
| 359 |
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| 360 |
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/// Plane polygon represented by its vertices |
| 361 |
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/// Used to model contact surfaces for manipulation applications |
| 362 |
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typedef constraints::Shape_t Shape_t; |
| 363 |
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typedef constraints::JointAndShape_t JointAndShape_t; |
| 364 |
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typedef constraints::JointAndShapes_t JointAndShapes_t; |
| 365 |
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| 366 |
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namespace continuousCollisionChecking = continuousValidation; |
| 367 |
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| 368 |
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} // namespace core |
| 369 |
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} // namespace hpp |
| 370 |
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| 371 |
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#endif // HPP_CORE_FWD_HH |
| 372 |
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