Approximate Inference Control (AICO) solver

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: More...

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)