Exotica
Classes
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...
 

Detailed Description

The AICO solver was designed to solve finite time horizon time discretized ( $T$ 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: