Approximate Inference Control (AICO) solver

## 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... | |

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)