From a1ea584cc00f3a6685bb7e1ba73de85d6dbb0809 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 26 Aug 2016 20:01:56 +0200
Subject: [PATCH] Update headers
---
include/hpp/manipulation/fwd.hh | 5 +++--
include/hpp/manipulation/handle.hh | 2 ++
include/hpp/manipulation/problem-solver.hh | 2 +-
include/hpp/manipulation/roadmap-node.hh | 6 +-----
src/device.cc | 2 ++
src/graph-optimizer.cc | 1 +
src/manipulation-planner.cc | 2 ++
src/path-optimization/small-steps.cc | 1 +
src/roadmap-node.cc | 9 +++++++++
9 files changed, 22 insertions(+), 8 deletions(-)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 2e298c7..0fa89ec 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/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;
diff --git a/include/hpp/manipulation/handle.hh b/include/hpp/manipulation/handle.hh
index f0c6092..a6bd640 100644
--- a/include/hpp/manipulation/handle.hh
+++ b/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>
diff --git a/include/hpp/manipulation/problem-solver.hh b/include/hpp/manipulation/problem-solver.hh
index e584b9e..a19a9fe 100644
--- a/include/hpp/manipulation/problem-solver.hh
+++ b/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"
diff --git a/include/hpp/manipulation/roadmap-node.hh b/include/hpp/manipulation/roadmap-node.hh
index f38bff2..6d1f85f 100644
--- a/include/hpp/manipulation/roadmap-node.hh
+++ b/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
/// \{
diff --git a/src/device.cc b/src/device.cc
index 6bf2601..3c6668b 100644
--- a/src/device.cc
+++ b/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>
diff --git a/src/graph-optimizer.cc b/src/graph-optimizer.cc
index 6d44523..7f8e838 100644
--- a/src/graph-optimizer.cc
+++ b/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>
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 913afab..00944a6 100644
--- a/src/manipulation-planner.cc
+++ b/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"
diff --git a/src/path-optimization/small-steps.cc b/src/path-optimization/small-steps.cc
index 6f9c8d8..1ebf1ff 100644
--- a/src/path-optimization/small-steps.cc
+++ b/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>
diff --git a/src/roadmap-node.cc b/src/roadmap-node.cc
index 5548de3..b5026ec 100644
--- a/src/roadmap-node.cc
+++ b/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
--
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