Classes | |
| class | exotica::AICOSolver |
| Solves motion planning problem using Approximate Inference Control method. More... | |
| class | exotica::BayesianIKSolver |
| Solves motion planning problem using Approximate Inference Control method. More... | |
Detailed Description
The AICO solver was designed to solve finite time horizon time discretized ( 
number of time steps) motion planning problem. The AICO solver is defined within the EXOTica framework, therefore it makes use of a specification of the exotica planning problem class (UnconstrainedTimeIndexedProblem) and the underlying tools for initialisation and kinematic computations. The inputs of the system are:
- The start point
- Problem definition (exotica::UnconstrainedTimeIndexedProblem)