Update headers

include/hpp/manipulation/fwd.hh

@@ -31,7 +31,7 @@ namespace hpp {
     typedef pinocchio::Joint Joint;
     typedef pinocchio::JointPtr_t JointPtr_t;
     typedef pinocchio::JointIndex JointIndex;
-    typedef pinocchio::Transform3f Transform3f;
+    typedef std::vector<JointIndex> JointIndexes_t;
     typedef pinocchio::Configuration_t Configuration_t;
     typedef pinocchio::ConfigurationIn_t ConfigurationIn_t;
     typedef pinocchio::ConfigurationOut_t ConfigurationOut_t;
@@ -93,7 +93,6 @@ namespace hpp {
 
     typedef std::vector <pinocchio::DevicePtr_t> Devices_t;
     typedef std::vector <ObjectPtr_t> Objects_t;
-    typedef std::map <JointConstPtr_t, JointPtr_t> JointMap_t;
     typedef core::Constraint Constraint;
     typedef core::ConstraintPtr_t ConstraintPtr_t;
     typedef core::LockedJoint LockedJoint;
@@ -108,6 +107,7 @@ namespace hpp {
     typedef core::ConfigurationShooter ConfigurationShooter;
     typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
     typedef core::ValidationReport ValidationReport;
+    typedef core::PathValidationPtr_t PathValidationPtr_t;
     typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
     typedef core::matrix_t matrix_t;
     typedef core::matrixIn_t matrixIn_t;
@@ -115,6 +115,7 @@ namespace hpp {
     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 std::list < NumericalConstraintPtr_t > NumericalConstraints_t;
     typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;

include/hpp/manipulation/handle.hh

@@ -20,6 +20,8 @@
 #ifndef HPP_MANIPULATION_HANDLE_HH
 # define HPP_MANIPULATION_HANDLE_HH
 
+# include <pinocchio/spatial/se3.hpp>
+
 # include <hpp/manipulation/fwd.hh>
 # include <hpp/manipulation/config.hh>
 

include/hpp/manipulation/problem-solver.hh

@@ -19,7 +19,7 @@
 # define HPP_MANIPULATION_PROBLEM_SOLVER_HH
 
 # include <map>
-# include <hpp/model/device.hh>
+# include <hpp/pinocchio/device.hh>
 # include <hpp/core/problem-solver.hh>
 # include <hpp/core/container.hh>
 # include "hpp/manipulation/fwd.hh"

include/hpp/manipulation/roadmap-node.hh

@@ -37,11 +37,7 @@ namespace hpp {
         {}
 
         RoadmapNode (const ConfigurationPtr_t& configuration,
-            ConnectedComponentPtr_t cc) :
-          core::Node (configuration, cc),
-          cacheSystem_ (defaultCachingSystem),
-          node_ ()
-        {}
+            ConnectedComponentPtr_t cc);
 
         /// \name Cache system
         /// \{

src/device.cc

@@ -19,6 +19,8 @@
 
 #include <hpp/manipulation/device.hh>
 
+#include <pinocchio/multibody/model.hpp>
+
 #include <hpp/pinocchio/joint.hh>
 #include <hpp/pinocchio/gripper.hh>
 

src/graph-optimizer.cc

@@ -19,6 +19,7 @@
 #include <hpp/core/path.hh>
 #include <hpp/core/path-vector.hh>
 #include <hpp/core/problem.hh>
+#include <hpp/core/config-projector.hh>
 
 #include <hpp/manipulation/constraint-set.hh>
 #include <hpp/manipulation/graph/edge.hh>

src/manipulation-planner.cc

@@ -35,9 +35,11 @@
 
 #include "hpp/manipulation/graph/statistics.hh"
 #include "hpp/manipulation/device.hh"
+#include "hpp/manipulation/connected-component.hh"
 #include "hpp/manipulation/problem.hh"
 #include "hpp/manipulation/roadmap.hh"
 #include "hpp/manipulation/roadmap-node.hh"
+#include "hpp/manipulation/graph-path-validation.hh"
 #include "hpp/manipulation/graph/edge.hh"
 #include "hpp/manipulation/graph/node-selector.hh"
 

src/path-optimization/small-steps.cc

@@ -17,6 +17,7 @@
 #include <hpp/manipulation/path-optimization/small-steps.hh>
 
 #include <hpp/core/problem.hh>
+#include <hpp/core/path-vector.hh>
 
 #include <hpp/wholebody-step/small-steps.hh>
 

src/roadmap-node.cc

@@ -16,8 +16,17 @@
 
 #include "hpp/manipulation/roadmap-node.hh"
 
+#include <hpp/manipulation/connected-component.hh>
+
 namespace hpp {
   namespace manipulation {
     RoadmapNode::CachingSystem RoadmapNode::defaultCachingSystem = RoadmapNode::CACHE_DISABLED;
+
+    RoadmapNode::RoadmapNode (const ConfigurationPtr_t& configuration,
+        ConnectedComponentPtr_t cc) :
+      core::Node (configuration, cc),
+      cacheSystem_ (defaultCachingSystem),
+      node_ ()
+    {}
   } // namespace manipulation
 } // namespace hpp