This package implements path planning algorithms for kinematic chains. Kinematic chains are represented by class hpp::model::Device.

The main classes are:

* hpp::core::Problem: defines a canonical path planning problem,
* hpp::core::PathPlanner: implements an algorithm to solve a problem,
* hpp::core::Roadmap: stores a network of collision-free paths
* hpp::core::SteeringMethod: builds paths between configurations taking into
  account kinematic constraints.
* hpp::core::Path: paths for a robot.

Embedding hpp-core into an application

Class hpp::core::ProblemSolver is a container aiming at embedding hpp-core into an application. It stores elements of the problem that can be provided in random order and builds a valid problem upon call of method solve. After completion of method solve, it stores solution paths.