The hpp-core from pfernbach

hpp-core's Introduction

This package implements path planning algorithms for kinematic chains. Kinematic chains are represented by class hpp::model::Device.

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: paths for a robot.

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.

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hpp-core's Issues

TODO list pinocchio

distance-between-objects.cc switch to GeomData (copy from Device::geomData_, empty the collision pair list and add them as you did)
locked-joint.cc Partial locked joints may be double checked later
path-optimization/collision-constraints-result.hh eigen::vector3_t => vector3_t
parser/roadmap-factory.cc has to be revised as, so far, the XML parser is not available.
relative-motion.cc getNonAnchorParent can probably be removed
reeds-shepp-path.cc update check of joint types
weighed-distance.cc reimplemente / update children iterator

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