fwd.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Florent Lamiraux, Joseph Mirabel
//
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_MANIPULATION_FWD_HH
#define HPP_MANIPULATION_FWD_HH
 
#include <hpp/core/fwd.hh>
#include <map>
 
namespace hpp {
namespace manipulation {
HPP_PREDEF_CLASS(Device);
typedef shared_ptr<Device> DevicePtr_t;
typedef shared_ptr<const Device> DeviceConstPtr_t;
typedef pinocchio::Joint Joint;
typedef pinocchio::JointPtr_t JointPtr_t;
typedef pinocchio::JointIndex JointIndex;
typedef std::vector<JointIndex> JointIndices_t;
typedef pinocchio::FrameIndex FrameIndex;
typedef std::vector<pinocchio::FrameIndex> FrameIndices_t;
typedef pinocchio::Configuration_t Configuration_t;
typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
typedef pinocchio::GripperPtr_t GripperPtr_t;
typedef pinocchio::LiegroupElement LiegroupElement;
typedef pinocchio::LiegroupSpace LiegroupSpace;
typedef pinocchio::LiegroupSpacePtr_t LiegroupSpacePtr_t;
HPP_PREDEF_CLASS(AxialHandle);
typedef shared_ptr<AxialHandle> AxialHandlePtr_t;
HPP_PREDEF_CLASS(Handle);
typedef shared_ptr<Handle> HandlePtr_t;
HPP_PREDEF_CLASS(Object);
typedef shared_ptr<Object> ObjectPtr_t;
typedef shared_ptr<const Object> ObjectConstPtr_t;
HPP_PREDEF_CLASS(ProblemSolver);
typedef ProblemSolver* ProblemSolverPtr_t;
HPP_PREDEF_CLASS(Problem);
typedef shared_ptr<Problem> ProblemPtr_t;
typedef shared_ptr<const Problem> ProblemConstPtr_t;
HPP_PREDEF_CLASS(Roadmap);
typedef shared_ptr<Roadmap> RoadmapPtr_t;
HPP_PREDEF_CLASS(RoadmapNode);
typedef RoadmapNode* RoadmapNodePtr_t;
typedef std::vector<RoadmapNodePtr_t> RoadmapNodes_t;
HPP_PREDEF_CLASS(ConnectedComponent);
typedef shared_ptr<ConnectedComponent> ConnectedComponentPtr_t;
HPP_PREDEF_CLASS(LeafConnectedComp);
typedef shared_ptr<LeafConnectedComp> LeafConnectedCompPtr_t;
typedef shared_ptr<const LeafConnectedComp> LeafConnectedCompConstPtr_t;
typedef std::set<LeafConnectedCompPtr_t> LeafConnectedComps_t;
HPP_PREDEF_CLASS(WeighedLeafConnectedComp);
typedef shared_ptr<WeighedLeafConnectedComp> WeighedLeafConnectedCompPtr_t;
HPP_PREDEF_CLASS(WeighedDistance);
typedef shared_ptr<WeighedDistance> WeighedDistancePtr_t;
typedef constraints::RelativeOrientation RelativeOrientation;
typedef constraints::RelativePosition RelativePosition;
typedef constraints::RelativeOrientationPtr_t RelativeOrientationPtr_t;
typedef constraints::RelativePositionPtr_t RelativePositionPtr_t;
typedef constraints::RelativeTransformation RelativeTransformation;
typedef constraints::RelativeTransformationR3xSO3 RelativeTransformationR3xSO3;
typedef constraints::RelativeTransformationPtr_t RelativeTransformationPtr_t;
typedef core::value_type value_type;
typedef core::size_type size_type;
typedef core::Transform3s Transform3s;
typedef core::vector_t vector_t;
typedef core::vectorIn_t vectorIn_t;
typedef core::vectorOut_t vectorOut_t;
HPP_PREDEF_CLASS(ManipulationPlanner);
typedef shared_ptr<ManipulationPlanner> ManipulationPlannerPtr_t;
namespace pathPlanner {
HPP_PREDEF_CLASS(EndEffectorTrajectory);
typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
HPP_PREDEF_CLASS(StatesPathFinder);
typedef shared_ptr<StatesPathFinder> StatesPathFinderPtr_t;
HPP_PREDEF_CLASS(InStatePath);
typedef shared_ptr<InStatePath> InStatePathPtr_t;
HPP_PREDEF_CLASS(StateShooter);
typedef shared_ptr<StateShooter> StateShooterPtr_t;
HPP_PREDEF_CLASS(TransitionPlanner);
typedef shared_ptr<TransitionPlanner> TransitionPlannerPtr_t;
}  // namespace pathPlanner
HPP_PREDEF_CLASS(GraphPathValidation);
typedef shared_ptr<GraphPathValidation> GraphPathValidationPtr_t;
HPP_PREDEF_CLASS(SteeringMethod);
typedef shared_ptr<SteeringMethod> SteeringMethodPtr_t;
namespace steeringMethod {
HPP_PREDEF_CLASS(EndEffectorTrajectory);
typedef shared_ptr<EndEffectorTrajectory> EndEffectorTrajectoryPtr_t;
}  // namespace steeringMethod
typedef core::PathOptimizer PathOptimizer;
typedef core::PathOptimizerPtr_t PathOptimizerPtr_t;
HPP_PREDEF_CLASS(GraphOptimizer);
typedef shared_ptr<GraphOptimizer> GraphOptimizerPtr_t;
HPP_PREDEF_CLASS(GraphNodeOptimizer);
typedef shared_ptr<GraphNodeOptimizer> GraphNodeOptimizerPtr_t;
typedef core::PathProjectorPtr_t PathProjectorPtr_t;
 
typedef std::vector<pinocchio::DevicePtr_t> Devices_t;
typedef std::vector<ObjectPtr_t> Objects_t;
typedef core::Constraint Constraint;
typedef core::ConstraintPtr_t ConstraintPtr_t;
typedef constraints::Explicit Explicit;
typedef constraints::ExplicitPtr_t ExplicitPtr_t;
typedef constraints::ImplicitPtr_t ImplicitPtr_t;
typedef constraints::LockedJoint LockedJoint;
typedef constraints::LockedJointPtr_t LockedJointPtr_t;
typedef hpp::core::ComparisonTypes_t ComparisonTypes_t;
typedef core::ConfigProjector ConfigProjector;
typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
HPP_PREDEF_CLASS(ConstraintSet);
typedef shared_ptr<ConstraintSet> ConstraintSetPtr_t;
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
typedef core::ConfigurationShooter ConfigurationShooter;
typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
typedef core::ValidationReport ValidationReport;
typedef core::NumericalConstraints_t NumericalConstraints_t;
typedef core::PathValidationPtr_t PathValidationPtr_t;
typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
typedef core::matrix_t matrix_t;
typedef core::matrixIn_t matrixIn_t;
typedef core::matrixOut_t matrixOut_t;
typedef core::size_type size_type;
typedef core::value_type value_type;
typedef core::vector3_t vector3_t;
typedef core::matrix3_t matrix3_t;
 
typedef core::Shape_t Shape_t;
typedef core::JointAndShape_t JointAndShape_t;
typedef core::JointAndShapes_t JointAndShapes_t;
 
typedef std::list<std::string> StringList_t;
typedef std::vector<std::string> Strings_t;
 
namespace pathOptimization {
HPP_PREDEF_CLASS(SmallSteps);
typedef shared_ptr<SmallSteps> SmallStepsPtr_t;
HPP_PREDEF_CLASS(Keypoints);
typedef shared_ptr<Keypoints> KeypointsPtr_t;
}  // namespace pathOptimization
 
namespace problemTarget {
HPP_PREDEF_CLASS(State);
typedef shared_ptr<State> StatePtr_t;
}  // namespace problemTarget
}  // namespace manipulation
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_FWD_HH