| Line |
Branch |
Exec |
Source |
| 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 |
|
|
|
| 43 |
|
|
namespace hpp { |
| 44 |
|
|
namespace core { |
| 45 |
|
|
HPP_PREDEF_CLASS(BiRRTPlanner); |
| 46 |
|
|
HPP_PREDEF_CLASS(CollisionValidation); |
| 47 |
|
|
HPP_PREDEF_CLASS(CollisionValidationReport); |
| 48 |
|
|
HPP_PREDEF_CLASS(AllCollisionsValidationReport); |
| 49 |
|
|
HPP_PREDEF_CLASS(ConfigurationShooter); |
| 50 |
|
|
HPP_PREDEF_CLASS(ConfigProjector); |
| 51 |
|
|
HPP_PREDEF_CLASS(ConfigValidation); |
| 52 |
|
|
HPP_PREDEF_CLASS(ConfigValidations); |
| 53 |
|
|
HPP_PREDEF_CLASS(ConnectedComponent); |
| 54 |
|
|
HPP_PREDEF_CLASS(Constraint); |
| 55 |
|
|
HPP_PREDEF_CLASS(ConstraintSet); |
| 56 |
|
|
HPP_PREDEF_CLASS(DiffusingPlanner); |
| 57 |
|
|
HPP_PREDEF_CLASS(Distance); |
| 58 |
|
|
HPP_PREDEF_CLASS(DistanceBetweenObjects); |
| 59 |
|
|
class Edge; |
| 60 |
|
|
HPP_PREDEF_CLASS(ExtractedPath); |
| 61 |
|
|
HPP_PREDEF_CLASS(SubchainPath); |
| 62 |
|
|
HPP_PREDEF_CLASS(JointBoundValidation); |
| 63 |
|
|
struct JointBoundValidationReport; |
| 64 |
|
|
class Node; |
| 65 |
|
|
HPP_PREDEF_CLASS(Path); |
| 66 |
|
|
HPP_PREDEF_CLASS(TimeParameterization); |
| 67 |
|
|
HPP_PREDEF_CLASS(PathOptimizer); |
| 68 |
|
|
HPP_PREDEF_CLASS(PathPlanner); |
| 69 |
|
|
class Parameter; |
| 70 |
|
|
HPP_PREDEF_CLASS(ProblemTarget); |
| 71 |
|
|
HPP_PREDEF_CLASS(PathVector); |
| 72 |
|
|
HPP_PREDEF_CLASS(PlanAndOptimize); |
| 73 |
|
|
HPP_PREDEF_CLASS(Problem); |
| 74 |
|
|
class ProblemSolver; |
| 75 |
|
|
HPP_PREDEF_CLASS(Roadmap); |
| 76 |
|
|
HPP_PREDEF_CLASS(SteeringMethod); |
| 77 |
|
|
HPP_PREDEF_CLASS(StraightPath); |
| 78 |
|
|
HPP_PREDEF_CLASS(InterpolatedPath); |
| 79 |
|
|
HPP_PREDEF_CLASS(DubinsPath); |
| 80 |
|
|
HPP_PREDEF_CLASS(ReedsSheppPath); |
| 81 |
|
|
HPP_PREDEF_CLASS(KinodynamicPath); |
| 82 |
|
|
HPP_PREDEF_CLASS(KinodynamicOrientedPath); |
| 83 |
|
|
HPP_PREDEF_CLASS(ValidationReport); |
| 84 |
|
|
HPP_PREDEF_CLASS(VisibilityPrmPlanner); |
| 85 |
|
|
HPP_PREDEF_CLASS(WeighedDistance); |
| 86 |
|
|
HPP_PREDEF_CLASS(KinodynamicDistance); |
| 87 |
|
|
class 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; |
| 97 |
|
|
typedef 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 |
|
180 |
bool operator()(const std::shared_ptr<T>& lhs, |
| 122 |
|
|
const std::shared_ptr<T>& rhs) const { |
| 123 |
|
180 |
return (*lhs) < (*rhs); |
| 124 |
|
|
} |
| 125 |
|
|
}; |
| 126 |
|
|
typedef 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; |
| 152 |
|
|
typedef 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; |
| 176 |
|
|
/// Interval of indices as (first index, number of indices) |
| 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; |
| 209 |
|
|
typedef 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; |
| 216 |
|
|
typedef std::vector<PathVectorPtr_t> PathVectors_t; |
| 217 |
|
|
typedef pinocchio::Transform3f Transform3f; |
| 218 |
|
|
typedef 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; |
| 228 |
|
|
typedef 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; |
| 233 |
|
|
typedef std::map<std::string, CenterOfMassComputationPtr_t> |
| 234 |
|
|
CenterOfMassComputationMap_t; |
| 235 |
|
|
|
| 236 |
|
|
// Collision pairs |
| 237 |
|
|
struct CollisionPair; |
| 238 |
|
|
typedef CollisionPair CollisionPair_t; // For backward compatibility. |
| 239 |
|
|
typedef std::vector<CollisionPair_t> CollisionPairs_t; |
| 240 |
|
|
|
| 241 |
|
|
class ExtractedPath; |
| 242 |
|
|
namespace path { |
| 243 |
|
|
template <int _PolynomeBasis, int _Order> |
| 244 |
|
|
class Spline; |
| 245 |
|
|
HPP_PREDEF_CLASS(Hermite); |
| 246 |
|
|
typedef shared_ptr<Hermite> HermitePtr_t; |
| 247 |
|
|
typedef shared_ptr<const Hermite> HermiteConstPtr_t; |
| 248 |
|
|
} // namespace path |
| 249 |
|
|
|
| 250 |
|
|
HPP_PREDEF_CLASS(ContinuousValidation); |
| 251 |
|
|
typedef shared_ptr<ContinuousValidation> ContinuousValidationPtr_t; |
| 252 |
|
|
namespace continuousValidation { |
| 253 |
|
|
HPP_PREDEF_CLASS(Dichotomy); |
| 254 |
|
|
typedef shared_ptr<Dichotomy> DichotomyPtr_t; |
| 255 |
|
|
HPP_PREDEF_CLASS(Progressive); |
| 256 |
|
|
typedef shared_ptr<Progressive> ProgressivePtr_t; |
| 257 |
|
|
HPP_PREDEF_CLASS(BodyPairCollision); |
| 258 |
|
|
typedef shared_ptr<BodyPairCollision> BodyPairCollisionPtr_t; |
| 259 |
|
|
typedef std::vector<BodyPairCollisionPtr_t> BodyPairCollisions_t; |
| 260 |
|
|
HPP_PREDEF_CLASS(IntervalValidation); |
| 261 |
|
|
typedef shared_ptr<IntervalValidation> IntervalValidationPtr_t; |
| 262 |
|
|
typedef std::vector<IntervalValidationPtr_t> IntervalValidations_t; |
| 263 |
|
|
HPP_PREDEF_CLASS(SolidSolidCollision); |
| 264 |
|
|
typedef shared_ptr<SolidSolidCollision> SolidSolidCollisionPtr_t; |
| 265 |
|
|
} // namespace continuousValidation |
| 266 |
|
|
|
| 267 |
|
|
namespace distance { |
| 268 |
|
|
HPP_PREDEF_CLASS(ReedsShepp); |
| 269 |
|
|
typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t; |
| 270 |
|
|
} // namespace distance |
| 271 |
|
|
|
| 272 |
|
|
class NearestNeighbor; |
| 273 |
|
|
typedef NearestNeighbor* NearestNeighborPtr_t; |
| 274 |
|
|
namespace nearestNeighbor { |
| 275 |
|
|
class Basic; |
| 276 |
|
|
class KDTree; |
| 277 |
|
|
typedef KDTree* KDTreePtr_t; |
| 278 |
|
|
typedef Basic* BasicPtr_t; |
| 279 |
|
|
} // namespace nearestNeighbor |
| 280 |
|
|
|
| 281 |
|
|
namespace pathOptimization { |
| 282 |
|
|
HPP_PREDEF_CLASS(RandomShortcut); |
| 283 |
|
|
typedef shared_ptr<RandomShortcut> RandomShortcutPtr_t; |
| 284 |
|
|
HPP_PREDEF_CLASS(SimpleShortcut); |
| 285 |
|
|
typedef shared_ptr<SimpleShortcut> SimpleShortcutPtr_t; |
| 286 |
|
|
HPP_PREDEF_CLASS(Cost); |
| 287 |
|
|
typedef shared_ptr<Cost> CostPtr_t; |
| 288 |
|
|
HPP_PREDEF_CLASS(GradientBased); |
| 289 |
|
|
typedef shared_ptr<GradientBased> GradientBasedPtr_t; |
| 290 |
|
|
HPP_PREDEF_CLASS(PathLength); |
| 291 |
|
|
typedef shared_ptr<PathLength> PathLengthPtr_t; |
| 292 |
|
|
HPP_PREDEF_CLASS(PartialShortcut); |
| 293 |
|
|
typedef shared_ptr<PartialShortcut> PartialShortcutPtr_t; |
| 294 |
|
|
HPP_PREDEF_CLASS(RSTimeParameterization); |
| 295 |
|
|
typedef shared_ptr<RSTimeParameterization> RSTimeParameterizationPtr_t; |
| 296 |
|
|
HPP_PREDEF_CLASS(SimpleTimeParameterization); |
| 297 |
|
|
typedef shared_ptr<SimpleTimeParameterization> SimpleTimeParameterizationPtr_t; |
| 298 |
|
|
HPP_PREDEF_CLASS(ConfigOptimization); |
| 299 |
|
|
typedef shared_ptr<ConfigOptimization> ConfigOptimizationPtr_t; |
| 300 |
|
|
} // namespace pathOptimization |
| 301 |
|
|
|
| 302 |
|
|
namespace pathPlanner { |
| 303 |
|
|
HPP_PREDEF_CLASS(kPrmStar); |
| 304 |
|
|
typedef shared_ptr<kPrmStar> kPrmStarPtr_t; |
| 305 |
|
|
} // namespace pathPlanner |
| 306 |
|
|
|
| 307 |
|
|
HPP_PREDEF_CLASS(PathValidations); |
| 308 |
|
|
HPP_PREDEF_CLASS(PathValidation); |
| 309 |
|
|
typedef shared_ptr<PathValidation> PathValidationPtr_t; |
| 310 |
|
|
typedef shared_ptr<PathValidations> PathValidationsPtr_t; |
| 311 |
|
|
namespace pathValidation { |
| 312 |
|
|
HPP_PREDEF_CLASS(Discretized); |
| 313 |
|
|
typedef shared_ptr<Discretized> DiscretizedPtr_t; |
| 314 |
|
|
} // namespace pathValidation |
| 315 |
|
|
// Path validation reports |
| 316 |
|
|
struct PathValidationReport; |
| 317 |
|
|
struct CollisionPathValidationReport; |
| 318 |
|
|
typedef shared_ptr<PathValidationReport> PathValidationReportPtr_t; |
| 319 |
|
|
typedef shared_ptr<CollisionPathValidationReport> |
| 320 |
|
|
CollisionPathValidationReportPtr_t; |
| 321 |
|
|
typedef std::vector<CollisionPathValidationReport> |
| 322 |
|
|
CollisionPathValidationReports_t; |
| 323 |
|
|
|
| 324 |
|
|
HPP_PREDEF_CLASS(PathProjector); |
| 325 |
|
|
typedef shared_ptr<PathProjector> PathProjectorPtr_t; |
| 326 |
|
|
namespace pathProjector { |
| 327 |
|
|
HPP_PREDEF_CLASS(Global); |
| 328 |
|
|
typedef shared_ptr<Global> GlobalPtr_t; |
| 329 |
|
|
HPP_PREDEF_CLASS(Dichotomy); |
| 330 |
|
|
typedef shared_ptr<Dichotomy> DichotomyPtr_t; |
| 331 |
|
|
HPP_PREDEF_CLASS(Progressive); |
| 332 |
|
|
typedef shared_ptr<Progressive> ProgressivePtr_t; |
| 333 |
|
|
HPP_PREDEF_CLASS(RecursiveHermite); |
| 334 |
|
|
typedef shared_ptr<RecursiveHermite> RecursiveHermitePtr_t; |
| 335 |
|
|
} // namespace pathProjector |
| 336 |
|
|
|
| 337 |
|
|
namespace steeringMethod { |
| 338 |
|
|
HPP_PREDEF_CLASS(Interpolated); |
| 339 |
|
|
typedef shared_ptr<Interpolated> InterpolatedPtr_t; |
| 340 |
|
|
HPP_PREDEF_CLASS(ReedsShepp); |
| 341 |
|
|
typedef shared_ptr<ReedsShepp> ReedsSheppPtr_t; |
| 342 |
|
|
HPP_PREDEF_CLASS(Kinodynamic); |
| 343 |
|
|
typedef shared_ptr<Kinodynamic> KinodynamicPtr_t; |
| 344 |
|
|
} // namespace steeringMethod |
| 345 |
|
|
|
| 346 |
|
|
namespace problemTarget { |
| 347 |
|
|
HPP_PREDEF_CLASS(GoalConfigurations); |
| 348 |
|
|
HPP_PREDEF_CLASS(TaskTarget); |
| 349 |
|
|
typedef shared_ptr<GoalConfigurations> GoalConfigurationsPtr_t; |
| 350 |
|
|
typedef shared_ptr<TaskTarget> TaskTargetPtr_t; |
| 351 |
|
|
} // namespace problemTarget |
| 352 |
|
|
|
| 353 |
|
|
namespace configurationShooter { |
| 354 |
|
|
HPP_PREDEF_CLASS(Uniform); |
| 355 |
|
|
typedef shared_ptr<Uniform> UniformPtr_t; |
| 356 |
|
|
HPP_PREDEF_CLASS(Gaussian); |
| 357 |
|
|
typedef shared_ptr<Gaussian> GaussianPtr_t; |
| 358 |
|
|
} // namespace configurationShooter |
| 359 |
|
|
|
| 360 |
|
|
/// Plane polygon represented by its vertices |
| 361 |
|
|
/// Used to model contact surfaces for manipulation applications |
| 362 |
|
|
typedef constraints::Shape_t Shape_t; |
| 363 |
|
|
typedef constraints::JointAndShape_t JointAndShape_t; |
| 364 |
|
|
typedef constraints::JointAndShapes_t JointAndShapes_t; |
| 365 |
|
|
|
| 366 |
|
|
namespace continuousCollisionChecking = continuousValidation; |
| 367 |
|
|
|
| 368 |
|
|
} // namespace core |
| 369 |
|
|
} // namespace hpp |
| 370 |
|
|
|
| 371 |
|
|
#endif // HPP_CORE_FWD_HH |
| 372 |
|
|
|