hpp-core documentation

Introduction

This package implements path planning algorithms for robots as kinematic chains. Kinematic chains are represented by class hpp::pinocchio::Device in package hpp-model.

The main classes are:

• hpp::core::Problem: defines a canonical path planning problem,
• hpp::core::PathPlanner: implements an algorithm to solve a problem,
• hpp::core::Roadmap: stores a network of collision-free paths
• hpp::core::SteeringMethod: builds paths between configurations taking into account kinematic constraints.
• hpp::core::Path: Abstraction of Path for a robot.

For clarity, classes are distributed into modules.

Embedding hpp-core into an application

Class hpp::core::ProblemSolver is a container aiming at embedding hpp-core into an application. It stores elements of the problem that can be provided in random order and builds a valid problem upon call of method solve. After completion of method solve, it stores solution paths.