Exotica

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: