robotic 0.2.5.dev3__cp39-cp39-manylinux2014_x86_64.whl → 0.2.7__cp39-cp39-manylinux2014_x86_64.whl

{robotic-0.2.5.dev3.dist-info → robotic-0.2.7.dist-info}/RECORD

@@ -1,13 +1,14 @@
 robotic/DataGen.pyi,sha256=2IncN1yBCB_YgCzBoL8MoonOlMMMxENny_hqbJNmlTw,3051
-robotic/__init__.py,sha256=9QqFL56CvszFndC8X0HfJ5GrKVmrHhUc_B2jcej_y8g,246
-robotic/_robotic.pyi,sha256=Wxy4MqblkoUs0da3lEe-heAxp6fzsBp3BE67rVybcoQ,69333
-robotic/_robotic.so,sha256=a0aLuXkhMA8RxfPCgpX2KGoixyUMbkRu4zNgElA5fI0,1156832
-robotic/librai.so,sha256=VHqn_urxLfGc2W8yC8VJFVM8EnN0rmQtTDJsoT9vGKY,40052392
-robotic/manipulation.py,sha256=0-9xAFuGhnM1P6bQlXm0_AJag9yyhRx89j7zZP5zxD4,23792
-robotic/meshTool,sha256=CalvCnIO70H3hU2GeH3oR8EiJE-Oyd9grjje8ylpgY4,43928
+robotic/__init__.py,sha256=k-hVqPB7vN-huwpRzQLt3f--6sNdjaCQ_hWw66dWkA8,297
+robotic/_robotic.pyi,sha256=1y2Z5sHqRAcKFtH9cAN7OH6iHZeeF8VSvskQEy31rzg,70731
+robotic/_robotic.so,sha256=UBxUj1vrJ3Ts0hxdFw1gumTn1JkhRPKG8c5P9jHES8g,1165024
+robotic/librai.so,sha256=TmuLoBZ0kkhWNS-sNbVVp2MmZ71JuMX5PQadyWxOy3E,40126344
+robotic/manipulation.py,sha256=UgH3Fy2FjuCL3ip0s1q--JzqlBLU74eRiOWMOnCM-Ys,22355
+robotic/meshTool,sha256=2SpKcToxKHD8M6me_GRWu9vi1G4jauEOZSgZWWwisug,43928
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
 robotic/ry-bot,sha256=nd2yWqaDsFbwAmr7ySdOjq06ek0E1FMHTxPRO-7e2Q8,2294
+robotic/ry-h5info.py,sha256=YrkBvLAadxAgTmx0hlcm9h_KXy-KaNV_zp4raSXXdYY,620
 robotic/ry-info,sha256=GRj4oMCgTCGRF2wxtYxiFvETROB92rwwtUFb6S_Eo7g,439
 robotic/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
 robotic/ry-test,sha256=JZJ_h4NxLkkkrcV9IYdXzYHn9eEZDPFPBAzo1jIv278,976
@@ -15,7 +16,7 @@ robotic/ry-urdf2rai,sha256=88CFu5ikKsjy4wQixvCZqtNOqCheBiT18cjZfOsJA8A,7736
 robotic/ry-urdf2yaml,sha256=D36MR8Ui6Ry9V0TqJOBaPCWC89OZa43Fytz4P7Y4v0w,8543
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=FsVG-Fr6l__-c9pZqI9lanr_LmPMTuZBBRBul7EBXBI,27
+robotic/version.py,sha256=e3cfQy_iVs9ILsymUalJnJu5D_dd7HuUVoVwKKurcL0,22
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=9ZtYLHXx9sExj0lZV6F5ZWaCtkm0R4hMiYb-KJjktnc,3339
@@ -35,7 +36,7 @@ robotic/include/rai/Control/CtrlObjective.h,sha256=fC-6cS0X0RR_7ooFm1xnAXlN2mgyF
 robotic/include/rai/Control/CtrlSet.h,sha256=o7u8N9ZSoMbiDR3TGKDjfIarIP1JAw0SHMFL18t1fv0,1404
 robotic/include/rai/Control/CtrlSolver.h,sha256=79BZgnFMvPwM1cAWoyIcRCGYLLF21ky_LLBass3wnUQ,1095
 robotic/include/rai/Control/CtrlSolvers.h,sha256=gxr_aTn-dyV1J6HxDSX8SVrqIPm14oxOkXx5-OGfamo,3094
-robotic/include/rai/Control/CtrlTargets.h,sha256=JPH5oq8fmpvkKCliBhtSyHw5zjrX_n8V8hHp-AZVN-E,5475
+robotic/include/rai/Control/CtrlTargets.h,sha256=FRjAi9KwDL2-5ziKYP5g_-uR234SdPw70TNZbYn3QVg,5475
 robotic/include/rai/Control/RTControllerSimulation.h,sha256=iDpVRfivTlGS7DVWxVrS-xzCdVWrag1pUHsczZEb0po,1254
 robotic/include/rai/Control/SecMPC.h,sha256=VpQBxibL9jI6bG31sm4U95vfJlYJDJxIqBDahppixN8,1916
 robotic/include/rai/Control/ShortPathMPC.h,sha256=bZQ9I7fklqPOk-PwCTvi3xgnLVdVBoJ2j5i1iWwNxfE,938
@@ -44,9 +45,9 @@ robotic/include/rai/Control/WaypointMPC.h,sha256=Pa36-K1yMxszD9EFuLfLayaOe9pTK8c
 robotic/include/rai/Control/control.h,sha256=_dJefR6WzvdQMaJIYIBuYP8NwoKgNeG4owhQWPxWXzo,765
 robotic/include/rai/Control/ctrlMsg.h,sha256=uGuwAaKM1UsQW3hTNv4AihW99MJMuow4cxa9-AU9AmA,1121
 robotic/include/rai/Control/timingOpt.h,sha256=Ne_IH8QuFCID0Sy88LS5i3qkp1nL1FbIgREqSjRctz0,2045
-robotic/include/rai/Core/array.h,sha256=DofvQ-CP0lQnQc0Fh-hPdP5oAMRJH1OBZZWTbqQ8vuQ,25248
+robotic/include/rai/Core/array.h,sha256=YYdSaiZ0o7RoC_Zv6S1oGWMuFBdSrOWIIt-6KuaiO0Q,25290
 robotic/include/rai/Core/array.ipp,sha256=hdyULakmWOdt6Gi_-4338uzkWbrkw2_eCh-H3nXFwuo,58314
-robotic/include/rai/Core/arrayDouble.h,sha256=M4KASzwPFqnLWbdbkdi2Jlw6jfKww4bPmpfMDD7QoXI,28996
+robotic/include/rai/Core/arrayDouble.h,sha256=ACvesIGz_0UP3G-x7-LlfGzodKB7EVsGeX5z2RbMFx8,28869
 robotic/include/rai/Core/defines.h,sha256=hBTgf5EiJ50rQYW1saGw8Ox87aKVFOYVKnFw0jojVW0,6894
 robotic/include/rai/Core/graph.h,sha256=Eo0j8q8IbY_M7V2FwzKAi9E8makxgRBvrFcPfJKuCtE,20890
 robotic/include/rai/Core/h5.h,sha256=3dlhKBfrWpfZEhvhz9ceFe5ewF4LXAK4ykq-Yk4s9Ro,1026
@@ -57,18 +58,18 @@ robotic/include/rai/Core/lapack/blaswrap.h,sha256=jl8W6GwBGMiU-ND9ILeKqWlIvryw7A
 robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73ZwmfydSpaBdk,32367
 robotic/include/rai/Core/lapack/clapack.h,sha256=8rLteHzzGpKhJZXv4Eom9mk8lzbwRwjJuIqJuR1eePc,343373
 robotic/include/rai/Core/lapack/lapacke.h,sha256=cpP6MEjkLGyhS8mV6ysRlTVeUam6f8zBgFUJB1phuwM,1045408
-robotic/include/rai/DataGen/rndStableConfigs.h,sha256=ZXUWCM7EM6STV-K3UmMQo9QxzYH3YfgCleMxRmIt31Q,392
+robotic/include/rai/DataGen/rndStableConfigs.h,sha256=bIz2RovkruMjYaaDwJIkyevsF6oV16y7dhyKm6sp_6s,391
 robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NXOnjUhE-KpCHDQq7BFvwYgq8QYdQ2imtZ-kanypoPA,1411
 robotic/include/rai/Geo/assimpInterface.h,sha256=bTLjLN7_6unykJ-erIxyyb2RZtmcFxkygUws8N5MlNI,1039
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
 robotic/include/rai/Geo/fclInterface.h,sha256=iNdxNc_DSOgYCLyCajxP8lxdnrNcyoKQmjUlVmjxjQM,940
 robotic/include/rai/Geo/geo.h,sha256=_Ahf2k5-2iyzhQMf_MGsqJ40L5kZFaPv-fsrWYrHWys,14545
-robotic/include/rai/Geo/geoOptim.h,sha256=PAO_y2X6KFjbfpCBoy59GkVq_A82ovg-stLO3EJ7iuE,927
-robotic/include/rai/Geo/mesh.h,sha256=7-k8MyfG5l2zccL0IwqcKJ6UeT6caGwYjNePqgTtOCs,6574
+robotic/include/rai/Geo/mesh.h,sha256=OP7owWT7B_EUXq5Pji2qJA4W0e1xO8z17622c8nW6QQ,6575
 robotic/include/rai/Geo/pairCollision.h,sha256=kFEtQpkgPV_VKJ6YBDBKdb3ko62_s7HKDUti0kB2yYI,4374
 robotic/include/rai/Geo/qhull.h,sha256=dRAAHIdvujPPW1fXW4hXMjgixpBDajDg-y_OX1JMi_0,1890
-robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=9YlcRwh61ZVrcMIiXXcCByyFZq3CdGjPDPEkBjDPO7M,4831
+robotic/include/rai/Geo/signedDistanceFunctions.h,sha256=hrC838CsYWQ6TXm536iNRwB8W5-62LNb-JPqPoDAFPE,4831
 robotic/include/rai/Geo/stb_image.h,sha256=WnfQN6Iosji-LSuiVLoekjaY6NVnuy7XJnlkRTVR3KA,251786
+robotic/include/rai/Geo/testProblems_Geo.h,sha256=PAO_y2X6KFjbfpCBoy59GkVq_A82ovg-stLO3EJ7iuE,927
 robotic/include/rai/Geo/GJK/gjk.h,sha256=L4vvyYX7RYQLt8003G3ReMRhFu8MWsJZckeI-d7hzLc,15006
 robotic/include/rai/Geo/Lewiner/LookUpTable.h,sha256=0MRA9ioCeKoMhXYqtxaOPHTMwR_GkmyDFx2mgpSvs9s,158933
 robotic/include/rai/Geo/Lewiner/MarchingCubes.h,sha256=xKff8BtMBeRHK26CSxl0Gn8aRVAYXEdD7nTpjL3DRYc,13528
@@ -85,25 +86,25 @@ robotic/include/rai/Geo/ccd_rai/support.h,sha256=B9KBuOctG7Hx-e1TXpnkU667WVH7SP4
 robotic/include/rai/Geo/ccd_rai/vec3.h,sha256=ARkNnQz8yWf_Cs3vgt22zclN1cLeGmwWPTVHVpvmfEA,8115
 robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisqvOeI,9384
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
-robotic/include/rai/Gui/RenderData.h,sha256=2o20P0UzHAncDYUzP7SMjAiWUEn-DyVMb6j-MPpCv-w,4500
+robotic/include/rai/Gui/RenderData.h,sha256=uQWRwAAh7eN8RjGR0cVkcKGL00oRRzsy_o0-qr2GiEU,4606
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
 robotic/include/rai/Gui/opengl.h,sha256=sRvOz-QGHwgrf11UiQV4At4G2FjClveTTJorXyer1Fw,9036
 robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
-robotic/include/rai/KOMO/komo.h,sha256=zHgZS_3SNYk713fq6fSyjba8LX-WjyT2y60Gh2RnU6U,12972
+robotic/include/rai/KOMO/komo.h,sha256=SHyG2X0F0RVAxUlRhaYBVKzccwru9m6pQfvXuh9bEB0,13008
 robotic/include/rai/KOMO/komo_NLP.h,sha256=kSzUMDmw4yzAXtpNB2v38dpw2tBS8n8R_op_T3yS3DQ,3681
-robotic/include/rai/KOMO/manipTools.h,sha256=ZSAGmBrH2OIEp_NjbfQTBL_6wbkQkVhaKtVw0Ulr5ik,3980
+robotic/include/rai/KOMO/manipTools.h,sha256=CoIL9ElNFHAV-AU95wUtSgDWH9ceNx6WmGVTP8DZvaw,4173
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
-robotic/include/rai/KOMO/opt-benchmarks.h,sha256=TxLNFTdNzY6C14CEXca7o6udxvwAXNsDLJgZ7qUheaU,1401
 robotic/include/rai/KOMO/pathTools.h,sha256=w0Wq6BGLBxG1LAZQBDmmPWTXzwxW3RHj2EX1cm92WeE,3288
 robotic/include/rai/KOMO/skeleton.h,sha256=NPaMfUMC_sUd3AjlLHTFpxWH4QtnKP_zzvHb2YvEigI,4437
 robotic/include/rai/KOMO/skeletonSymbol.h,sha256=mrPqRn_1i4PuqbkQBhKEYc5WPEGqPjBN6TvwZxZ5e7A,1261
 robotic/include/rai/KOMO/splined.h,sha256=G_fu9gXCboJLkwhwu77F6F3Ei6deqzbvkgP8r9kiNL8,903
 robotic/include/rai/KOMO/switch.h,sha256=teNNnHFe4h9W5rLlL3TFBsq97ni-RUEhcxw4uVPYR1g,1850
+robotic/include/rai/KOMO/testProblems_KOMO.h,sha256=rlVH4U8PeaSLl6hrDApQQnSd4JR5SA-FrA4jETTu9CU,2453
 robotic/include/rai/Kin/F_LeapCost.h,sha256=wNAUNgAJjLirMurF67BlFLHtjyuXy1EPr--9XLBe6Wk,556
 robotic/include/rai/Kin/F_collisions.h,sha256=pWjq-0jR-i814KquLndMHyFjkLWio7dtqgfDEKIlMq8,1814
 robotic/include/rai/Kin/F_forces.h,sha256=7qFg_5JZSxaq8GpjHrGojLWPrHOO1cxOhRGcc27oVks,6315
-robotic/include/rai/Kin/F_geometrics.h,sha256=lTJUOtXEgD-aCLQuyG-zEeJB3B8rzZPQWibCA8XOFsI,1847
+robotic/include/rai/Kin/F_geometrics.h,sha256=2yPFycgcmZjXLezxoRL_aaetrZusDgtGyx7GQbfbRrI,2146
 robotic/include/rai/Kin/F_operators.h,sha256=Nxdk1dPSoN7lW0A5Ns-BSJ_YXFft4iZi9RDOmVn3BJ0,1608
 robotic/include/rai/Kin/F_pose.h,sha256=37Atdsxnb1CdnIFcRUjkBqEQRNRWkC2p6BpTrrMBfvI,5166
 robotic/include/rai/Kin/F_qFeatures.h,sha256=x4cfFGaVBQSmj9ZetcC25qiGxnvfNMPsWh9zbPa5owE,2212
@@ -113,18 +114,18 @@ robotic/include/rai/Kin/dof_forceExchange.h,sha256=Apf95urslSgX0PZmU-u-u6goxWWtw
 robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACDgnLrei2s8g,790
 robotic/include/rai/Kin/dof_path.h,sha256=0vHnPER8XnrCufXF27hCWd8Nq9_J31MNoksNLhZvv2g,812
 robotic/include/rai/Kin/feature.h,sha256=xicsrElMcYnYXdIXdO5LBLmXxvCGVUVgZJY2NIarO5I,3935
-robotic/include/rai/Kin/featureSymbols.h,sha256=YiHEUL0SVE6whaOjJaXqEWmC45kLqy7Ck0LkC7fzENM,1923
-robotic/include/rai/Kin/frame.h,sha256=4U7EqMBC8JbfouA64QqamNkC7tYzQ-Mz4i8zlbAix-Q,14217
-robotic/include/rai/Kin/kin.h,sha256=2lz7ONYmn7y9Aq5qKimOHmz8ckEQyMpMQHLXECccp9E,15514
+robotic/include/rai/Kin/featureSymbols.h,sha256=JVXbXoW43PlEGOgwHPpULlbXUQzkl79F1EFnfl-0wyk,1984
+robotic/include/rai/Kin/frame.h,sha256=KgNJBbfkaeNd-CfKnRmT5pxyDaaFzGk_ikhh4ySsSe8,14225
+robotic/include/rai/Kin/kin.h,sha256=hhjYI9RF55PjgJvdXhV4omyQK1iRG6MTi8B_GG9yYqM,15594
 robotic/include/rai/Kin/kin_bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
 robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
 robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
 robotic/include/rai/Kin/kin_physx.h,sha256=EdZdS5feDjvhSuUWy_gdnSgdsh6iGBOVev0r8JtZDIY,1967
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-robotic/include/rai/Kin/simulation.h,sha256=oS92x-FPvBH1mLsZ69ppo5omNZhUVg911EsuWdeXdYI,5096
-robotic/include/rai/Kin/viewer.h,sha256=5x6rlkp8AzcBB6l9DI_KLYFxPEP2V_iRKcM3NCAD1-k,2079
+robotic/include/rai/Kin/simulation.h,sha256=ImOsxqc1l9ygiJIAPhoHQPOyqZEVccyJvu1jFREwFaU,5132
+robotic/include/rai/Kin/viewer.h,sha256=jpP9MltococoD9hYS5GvJ99y-u75M4qVNX59rrwxVtQ,2071
 robotic/include/rai/LGP/LGP_SkeletonTool.h,sha256=T4lXAUxY2QFo_ETZEm7RqRzfmU6NAHdVcow8qj_8-9Y,3240
-robotic/include/rai/LGP/LGP_Tool.h,sha256=FK6f6kmkx4N5EpMtwidrq9NdxCCXy52JboM7nECOSHE,4216
+robotic/include/rai/LGP/LGP_Tool.h,sha256=vcQ3ixwJ4wepPDX8ZGkDBKGIpchJQWMOoMu82_cS_8I,4230
 robotic/include/rai/LGP/LGP_computers.h,sha256=paoCbDZnIo7OUeHKo5qkzTkKy1RIzDZocg4p6SXoObk,6480
 robotic/include/rai/LGP/LGP_node.h,sha256=gMNQLfkbdMR1C-sNufI3K23Qt_Su3tqfIWz46Ta0JNo,4100
 robotic/include/rai/LGP/LGP_tree.h,sha256=J6W4Qypr70g0EZg30tTZBuca_6_O0sDQAGGv6Ow8oaE,4001
@@ -133,29 +134,24 @@ robotic/include/rai/LGP/initFol.h,sha256=m67VqzKUQzMN0kBFL0lWACu0ls7eYj8ExyXVFju
 robotic/include/rai/Logic/fol.h,sha256=ubWsZacmrRPGeDPKQVGKDoGC_4GxYGdVLJ0K3a3eZu0,3598
 robotic/include/rai/Logic/folWorld.h,sha256=8tocnoOMORvfo23tsDBCD69KfrpbL467PAcCHnVVqkw,6063
 robotic/include/rai/Logic/treeSearchDomain.h,sha256=sO5Y6o9wRTQxfST9YyJw3P0KcqGX7ISqbIN-uGQ5abU,3882
-robotic/include/rai/MCTS/env_robert.h,sha256=VHqSahXnGCdwa1o-CZp1Q_V1EF5Ig7oy9oXBz7eJfMM,3990
-robotic/include/rai/MCTS/problem_BlindBranch.h,sha256=GfrNZNz2tRHREJDgxSBgniY2GwweSGrbh17Xsl3qpc8,1446
-robotic/include/rai/MCTS/solver_AStar.h,sha256=4PoJoLWGjh_jObNEHGloKA9G7iB1EK0ReWdjPXOUAkA,2792
-robotic/include/rai/MCTS/solver_MBTS.h,sha256=vMZets4nMmopxtV8PcD__fq-UuMsx7LxVptodhVfDP8,3134
-robotic/include/rai/MCTS/solver_PlainMC.h,sha256=8BPgycISlQj0BBcgGsP_aFl0dIL7qdEJcx6uXyS_YPQ,1955
-robotic/include/rai/MCTS/solver_marc.h,sha256=lo4JpO7i0juvf1t8anw6ISRDerFbHADuU62k0KXDotk,2484
 robotic/include/rai/Optim/BayesOpt.h,sha256=GqOqGk5Y0USf513duMPtt--TBYGqujdsvY2qi17jVxI,1241
 robotic/include/rai/Optim/GlobalIterativeNewton.h,sha256=WRaTFUrx0A1FO7d7shgZbJVaC5AWKZT5PTD8LnuPXiE,801
 robotic/include/rai/Optim/NLP.h,sha256=rWs2HDuaIQnrz2DZeiCuLjYrENb5mfdUiCcht6dQaus,8195
 robotic/include/rai/Optim/NLP_Factory.h,sha256=xDn73B-u6fFvtu-udkXgyTiFyjTzfJNHwUm6z88FiOo,1979
 robotic/include/rai/Optim/NLP_GraphSolver.h,sha256=VE_3t8l-NThDSGFh7FCGxONNXYatzRbZv1HY9lgXF9s,1162
-robotic/include/rai/Optim/NLP_Sampler.h,sha256=K8PWPYdTDR8f1l3UpUjN0prviGPZH7q7s-PX_DZqAwE,4643
-robotic/include/rai/Optim/NLP_Solver.h,sha256=hWJkPBkbQMmCMq45fGyz1c-V2iRi6VtVvJIBBdgOY54,3325
-robotic/include/rai/Optim/benchmarks.h,sha256=GtCwr14qMLZ2wIqkXFaJjTogvZuSoEFcbRK7HYFso9I,6151
+robotic/include/rai/Optim/NLP_Sampler.h,sha256=JaOEc8YJwatW5toOviTFXlOoF3Dg8ZWPM9zejyW9ND8,4643
+robotic/include/rai/Optim/NLP_Solver.h,sha256=vPdZTjTJAX1mjtjLhtgS4jAc2qKGAaO73fyecfepJ3U,3359
+robotic/include/rai/Optim/SlackGaussNewton.h,sha256=b5w2ti8AqqothZtCFevUNSs1Y5dz4LOLBJXZQvoKNmU,1338
 robotic/include/rai/Optim/constrained.h,sha256=62pWGQMt3TK_KvbaAuEpahcNv0cHadoYyEGmrEpN4QE,1446
-robotic/include/rai/Optim/gradient.h,sha256=iy7jCOKNwaHw-8-sMwCTLJEmaO8bJMA_I3segWDnsiQ,1837
+robotic/include/rai/Optim/gradient.h,sha256=dtpGXdKffzufV3qxOmsp6u9u73pjRUXF0RoD3VbhtyI,1837
 robotic/include/rai/Optim/lagrangian.h,sha256=aG5MJvaZxGeE_Bfufjq4yJbAQZN62j__58WhuMkBHzQ,2377
 robotic/include/rai/Optim/newton.h,sha256=3CLZn80ZOUQfdN3R3qkDVuOke9Tp5fDeRm9p932c2Xk,1150
 robotic/include/rai/Optim/opt-ceres.h,sha256=bB-k-tlIDAh6g0_6Tue8Lc_Tnxol76kIssS_5GQeMVI,960
-robotic/include/rai/Optim/opt-ipopt.h,sha256=0yzSdn625Lt-ts3qC4xoswIcMAWZuYgjZV83PIqo-l8,495
+robotic/include/rai/Optim/opt-ipopt.h,sha256=1v147tZVY3MuNMRLaFFWxKC7fyNP5-59WJzKoVv8BsY,516
 robotic/include/rai/Optim/opt-nlopt.h,sha256=R0ma9SjxcVU9nI7H39QOWUIPy95H4AiQwLRHz3DRe7k,970
-robotic/include/rai/Optim/options.h,sha256=kUbU0OpNHSVTu_bWxHu2DdY36PR61swwf1W3Wc0Jgw8,1767
+robotic/include/rai/Optim/options.h,sha256=YXgBVLacCkJ59fui2gJnYXhjlqNpDS8xcduusXiDnqE,1817
 robotic/include/rai/Optim/primalDual.h,sha256=BNotLDK43sveJ274eNojO_p14d2Fgqes4XEwXnFuJ30,1267
+robotic/include/rai/Optim/testProblems_Opt.h,sha256=GBzuiO5lI3tSh9sHzhQuf5bElr3eejFbYHWAXYiUAdg,6532
 robotic/include/rai/Optim/utils.h,sha256=lZcBjPtYl0JDY-DfjYOlOBBR-nRqu67XgYPF6nxfspU,3515
 robotic/include/rai/PathAlgos/ConfigurationProblem.h,sha256=xNtvq0sK9sTtpWd_c8X6yzoYmFkACOvv_9VIRbG6R8s,1311
 robotic/include/rai/PathAlgos/PathResult.h,sha256=xxZiD8ClGKO719mQR50BsIzOlHeoH0UH4QNzWifoz6c,1070
@@ -281,7 +277,7 @@ robotic/rai-robotModels/g1/meshes/waist_yaw_link.ply,sha256=fq4SIjvn8NkNqg661F_J
 robotic/rai-robotModels/objects/kitchen.g,sha256=PLi7un2u3I29Mcngc08-9J3ocTU_c5TYlXplYXTgQHU,1223
 robotic/rai-robotModels/objects/shelf.g,sha256=9_CH-LPhcvShNxmqOueMckNK70uWeRdkSFfanvp4z-w,817
 robotic/rai-robotModels/objects/tables.g,sha256=z9GifBjAaCbu3Y2ISmzhVyU9_mw2NlR87eAyj0vNYnI,455
-robotic/rai-robotModels/panda/panda.g,sha256=eDyUET465EADxxd5dsJq94F6OJ1kanLJFjds8chP10M,2638
+robotic/rai-robotModels/panda/panda.g,sha256=AKF2C2mQ8KNUcU4QJQY6Zb_cXnT4LI6jlB2baYOrxs8,2667
 robotic/rai-robotModels/panda/panda_clean.g,sha256=yqS8MZp38LCy3ZW2JDgXeifeDwu4-ApDYj5kDhfYDL4,3818
 robotic/rai-robotModels/panda/panda_deformable.g,sha256=DvkhnJYSXc1S_GRBM3iJOm6WovKYrsckzAW-rXxLqH8,6037
 robotic/rai-robotModels/panda/panda_gripper.g,sha256=WNEaU06yEJJGOVTsyS4l6ztTsteqgecqTgf1JWqinGI,943
@@ -360,7 +356,7 @@ robotic/rai-robotModels/robotiq/meshes/visual/robotiq_arg2f_85_outer_knuckle.ply
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_arg2f_85_pad.ply,sha256=SjbdAIaUjNlUX7okwcDJWwfd0NaT6fazQwerbevKlbI,464
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_ft300.ply,sha256=0zn76K_SIR85pVNO8hmbnflRsmeFKHCuCykpVTfQf6s,38626
 robotic/rai-robotModels/robotiq/meshes/visual/robotiq_gripper_coupling.ply,sha256=ef10q5MdRRn2wjWPZTc3nrSVW401x9fHgkEdB_bdECA,30421
-robotic/rai-robotModels/scenarios/ballFinger.g,sha256=Juk4CQwVIKImzlDsXvGyyHHoSlWwFc2syTyvQMNBIs0,351
+robotic/rai-robotModels/scenarios/ballFinger.g,sha256=BALhO2h83-r6AIoTy3LS-blB43MNibrKyl7JuN7xqho,456
 robotic/rai-robotModels/scenarios/climber.g,sha256=fUbSlFq_PVev2AxqLgytyfud6NUxvyO5NSon9wXSOJo,2016
 robotic/rai-robotModels/scenarios/climber2.g,sha256=xYGBfNgcLfPfI6WOxOOFpGCVkusoH7gVECEGj2bwc-4,2349
 robotic/rai-robotModels/scenarios/gripper.g,sha256=-yvc-cxVMxz7OmqVzhg6dyh21hBk9hD9wo5Uc2c4roY,447
@@ -369,7 +365,7 @@ robotic/rai-robotModels/scenarios/k00.g,sha256=Bjei9rYaLLwOhOSHFjaDGc7LFDraL8sxQ
 robotic/rai-robotModels/scenarios/kswing.g,sha256=k1bND_Hr-lE5sklOraw58HdUye6iW8jTdjBUwbyRCRM,3995
 robotic/rai-robotModels/scenarios/liftRing.g,sha256=fRKPEfUH_kDL4r7PmpO0kB2t1KeLV9QypxEEN_BNrqQ,1349
 robotic/rai-robotModels/scenarios/mobileMini.g,sha256=I7SE9YUUciZ1JrJG6BIAZ9Oho_eUa_Z76l5_h-B0wjY,1158
-robotic/rai-robotModels/scenarios/mobilePanda.g,sha256=AEp5HzE8s7o9a2WA7F86pdCR7e5J_ZpUDbmpCkVVO7o,501
+robotic/rai-robotModels/scenarios/mobilePanda.g,sha256=AxH1JQJUgwnaLfrojvpP6DO83h_I6Vt3-la10TFpk0Y,608
 robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=62swwmxuYPd_DWT1ANw5qE-cCxjvSqURX_lAz0rK_jQ,1497
 robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
@@ -379,7 +375,7 @@ robotic/rai-robotModels/scenarios/panda_moveGripper.g,sha256=HyyzCAg8ksvqGxjVrAq
 robotic/rai-robotModels/scenarios/panda_noGripper.g,sha256=FL5vq3ysYJl7f_y9xOBfSTYuB6btJO22f6g2Z-HU1tw,670
 robotic/rai-robotModels/scenarios/pandasTable-calibrated.g,sha256=Bt6jEu-OUGclBJFBs2Ga2j6qTmP2Nqwecj9k0CH2cNY,467
 robotic/rai-robotModels/scenarios/pandasTable.g,sha256=BhXqZdyujDDnTCbsyHtwabTF6rRKW7WFJztmMhq2grQ,827
-robotic/rai-robotModels/scenarios/pendulum.g,sha256=X5g5a8XmtNO13B9Zn9Z5kXr1hZ00EwqEN64d1i6aHV4,668
+robotic/rai-robotModels/scenarios/pendulum.g,sha256=bViHSQAV_y2uMzM0Wl7jfBiJioICtJ8V2d73_wtKX7o,669
 robotic/rai-robotModels/scenarios/ringBox.g,sha256=as-lnOJd7tSujz3nulwrBL1qtSWpw8a3EDKmRcglwv0,706
 robotic/rai-robotModels/scenarios/simpleArm.g,sha256=N2p5TNUNVnXtKZMK691OIqOrAv4ElOn3U4-z_hRanSw,1473
 robotic/rai-robotModels/scenarios/walker.g,sha256=0h6yAacKSQsgdu_2zIfUB7z0H3fU258amygwHZ7NVlo,1103
@@ -387,7 +383,7 @@ robotic/rai-robotModels/scenarios/walker1.g,sha256=FTi0HxqU2fsKgqLCkdq5VCuc3Q9py
 robotic/rai-robotModels/scenarios/walker3.g,sha256=zODCp1jzoFNLWs5f98qCkKeEcXxm8TKZ0RzPBFH1qq4,796
 robotic/rai-robotModels/scenarios/workshop.g,sha256=2Xjh6cPk2xKbdvtDC89eDHZcRv8CxCnvDB2qR7AQWyY,5633
 robotic/rai-robotModels/scenarios/workshopTable.g,sha256=zDvlVXHQlZV5Ppc9XbUJ6q5XjW1Fni-OsE2NHMdkGpY,4440
-robotic/rai-robotModels/tests/arm.g,sha256=ccFmW6ya_hpeigtU4KkvMg-I85HenWda89cxCTDMEFg,1551
+robotic/rai-robotModels/tests/arm.g,sha256=5rIvASgj_L7e1aB7h7zq4L-GJjvlPfoTt36sT5DJceI,1671
 robotic/rai-robotModels/tests/compound.g,sha256=V5crn5KdI5YgaKltLrG2QL4Jl3UN96IabPtQdbQDOeM,554
 robotic/rai-robotModels/tests/pr2Shelf.g,sha256=axlVxDwuLMsNGdOga40nbzK3e6dWEthQEXm25XewNTw,329
 robotic/rai-robotModels/tests/thin.g,sha256=1bWARayk8TJutfO8CZs3GWCcBwr_oL2SRLLCP1lDMRQ,222
@@ -400,15 +396,15 @@ robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/UpperArm.ply,sha2
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist1.ply,sha256=Qmlgt3g046pi8GPzlUBKbDcR-4JehZkXfSRNabe_RVI,282487
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist2.ply,sha256=br9zVxfiGNlEMAuVm36e2dJ0chDKpVMe3H1MCh-318E,784726
 robotic/rai-robotModels/ur10/ur_description/meshes/ur10/visual/Wrist3.ply,sha256=el2jO6EOzwgz3ybkKjz9XcjCIQJWCpOCgTA7DSFHz6U,25593
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-robotic-0.2.5.dev3.dist-info/top_level.txt,sha256=x5A4haAZ18y9FpO1IhXSVJ2TFdhVAgT5JMkejHUg_9U,8
-robotic-0.2.5.dev3.dist-info/RECORD,,
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robotic/include/rai/MCTS/env_robert.h

@@ -1,106 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "AbstractEnvironment.h"
-
-class InterfaceMarc: public AbstractEnvironment {
-  //----typedefs/classes----//
- public:
-  struct InterfaceMarcAction: public Action {
-    InterfaceMarcAction(TreeSearchDomain::Handle action): action(action) {}
-    virtual bool operator==(const Action& other) const {
-      auto interface_action = dynamic_cast<const InterfaceMarcAction*>(&other);
-      return interface_action!=nullptr && *(interface_action->action)==*action;
-    }
-    virtual size_t get_hash() const {
-      return action->get_hash();
-    }
-    virtual void write(std::ostream& out) const {
-      action->write(out);
-    }
-    TreeSearchDomain::Handle action;
-  };
-  struct InterfaceMarcObservation: public Observation {
-    InterfaceMarcObservation(TreeSearchDomain::Handle observation): observation(observation) {}
-    virtual bool operator==(const Observation& other) const {
-      auto interface_observation = dynamic_cast<const InterfaceMarcObservation*>(&other);
-      return interface_observation!=nullptr && *(interface_observation->observation)==*(observation);
-    }
-    virtual size_t get_hash() const {
-      return observation->get_hash();
-    }
-    virtual void write(std::ostream& out) const {
-      observation->write(out);
-    }
-    TreeSearchDomain::Handle observation;
-  };
-
-  //----members----//
- public:
-  std::shared_ptr<TreeSearchDomain> env_marc;
-
-  //----methods----//
- public:
-  InterfaceMarc(std::shared_ptr<TreeSearchDomain> env_marc): env_marc(env_marc) {}
-  virtual observation_reward_pair_t transition(const action_handle_t& action_handle) {
-    auto interface_action = std::dynamic_pointer_cast<const InterfaceMarcAction>(action_handle);
-    assert(interface_action!=nullptr);
-    auto return_value = env_marc->transition(interface_action->action);
-    return observation_reward_pair_t(observation_handle_t(new InterfaceMarcObservation(return_value.first)), return_value.second);
-  }
-  template<class C>
-  static std::shared_ptr<AbstractEnvironment> makeAbstractEnvironment(C* env) {
-    auto mcts = dynamic_cast<TreeSearchDomain*>(env);
-    assert(mcts!=nullptr);
-    return std::shared_ptr<AbstractEnvironment>(
-             std::make_shared<InterfaceMarc>(
-               std::shared_ptr<TreeSearchDomain>(mcts)));
-  }
-  virtual action_container_t get_actions() {
-    action_container_t action_container;
-    for(auto action : env_marc->get_actions()) {
-      action_container.push_back(action_handle_t(new InterfaceMarcAction(action)));
-    }
-    return action_container;
-  }
-  virtual void make_current_state_new_start() {
-    env_marc->make_current_state_new_start();
-  }
-  virtual void reset_state() {
-    env_marc->reset_state();
-  }
-
-  virtual bool has_terminal_state() const {
-    return env_marc->get_info(TreeSearchDomain::InfoTag::hasTerminal);
-  }
-  virtual bool is_terminal_state() const {
-    return env_marc->is_terminal_state();
-  }
-  virtual bool is_deterministic() const {
-    return env_marc->get_info(TreeSearchDomain::InfoTag::isDeterministic);
-  }
-  virtual bool has_max_reward() const {
-    return env_marc->get_info(TreeSearchDomain::InfoTag::hasMaxReward);
-  }
-  virtual reward_t max_reward() const {
-    return (reward_t)env_marc->get_info_value(TreeSearchDomain::InfoTag::getMaxReward);
-  }
-  virtual bool has_min_reward() const {
-    return env_marc->get_info(TreeSearchDomain::InfoTag::hasMinReward);
-  }
-  virtual reward_t min_reward() const {
-    return (reward_t)env_marc->get_info_value(TreeSearchDomain::InfoTag::getMinReward);
-  }
-  virtual bool is_markov() const {
-    return env_marc->get_info(TreeSearchDomain::InfoTag::isMarkov);
-  }
-};
-

robotic/include/rai/MCTS/problem_BlindBranch.h

@@ -1,47 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "../Core/array.h"
-
-struct BlindBranch : rai::TreeSearchDomain {
-  struct Action : SAO {
-    Action(int d):d(d) {}
-    int d;
-    bool operator==(const SAO& other) const { return d==dynamic_cast<const Action&>(other).d; }
-  };
-
-  struct State:SAO {
-    State(int sum, uint T):sum(sum), T(T) {}
-    int sum;
-    uint T;
-    bool operator==(const SAO& other) const {
-      const State& s = dynamic_cast<const State&>(other);
-      return sum==s.sum && T==s.T;
-    }
-  };
-
-  int state; //the state = sum of so-far actions
-  int T; //current time (part of the state, actually!)
-  int H; //horizon (parameter of the world)
-  rai::Array<Handle> actions; //will contain handles on the -1 and +1 action
-
-  BlindBranch(uint H);
-  void reset_state();
-  TransitionReturn transition(const Handle& action);
-  TransitionReturn transition_randomly();
-  const rai::Array<Handle> get_actions();
-  const Handle get_state();
-  void set_state(const Handle& _state);
-  bool is_terminal_state() const;
-
-  bool get_info(InfoTag tag) const;
-  double get_info_value(InfoTag tag) const;
-};

robotic/include/rai/MCTS/solver_AStar.h

@@ -1,90 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "../Core/graph.h"
-#include "../Algo/priorityQueue.h"
-
-//===========================================================================
-
-struct AStar;
-struct AStar_Node;
-typedef rai::Array<AStar_Node*> AStar_NodeL;
-
-//===========================================================================
-
-struct AStar_Node {
-  AStar& astar;
-  rai::TreeSearchDomain& world;
-  rai::TreeSearchDomain::Handle action;
-  rai::TreeSearchDomain::Handle state;
-  rai::TreeSearchDomain::TransitionReturn ret;
-
-  AStar_Node* parent;
-  rai::Array<AStar_Node*> children;
-
-  uint d;      ///< decision depth of this node
-  double time; ///< real time
-  double g=0.; ///< cost-so-far, path cost (TODO: replace by array of bounds)
-  double h=0.; ///< cost-so-far, path cost (TODO: replace by array of bounds)
-
-  bool isExpanded=false;
-  bool isInfeasible=false;
-  bool isTerminal=false;
-
-  /// root node init
-  AStar_Node(AStar& astar, rai::TreeSearchDomain& world);
-
-  /// child node creation
-  AStar_Node(AStar_Node* parent, const rai::TreeSearchDomain::Handle& a);
-
-  ~AStar_Node() { NIY; }
-
-  //- computations on the node
-  void expand();           ///< expand this node (symbolically: compute possible decisions and add their effect nodes)
-
-  //-- helpers
-  void labelInfeasible(); ///< sets the infeasible label AND removes all children!
-  AStar_NodeL getTreePath(); ///< return the decision path in terms of a list of nodes (just walking to the root)
-  AStar_Node* getRoot(); ///< return the decision path in terms of a list of nodes (just walking to the root)
-  void getAllChildren(AStar_NodeL& tree);
-
-  bool recomputeAllFolStates();
-  void recomputeAllMCStats(bool excludeLeafs=true);
-
-  void checkConsistency();
-
-  void write(ostream& os=cout, bool recursive=false) const;
-  void getGraph(rai::Graph& G, rai::Node* n=nullptr);
-  rai::Graph getGraph() { rai::Graph G; getGraph(G, nullptr); G.checkConsistency(); return G; }
-
-  void getAll(AStar_NodeL& L);
-  AStar_NodeL getAll() { AStar_NodeL L; getAll(L); return L; }
-};
-stdOutPipe(AStar_Node)
-
-//===========================================================================
-
-struct AStar {
-  AStar_Node* root;
-  PriorityQueue<AStar_Node*> queue;
-  rai::Array<AStar_Node*> solutions;
-  uint size, depth;
-
-  AStar(rai::TreeSearchDomain& world);
-
-  bool step();
-  void run();
-
-  void reportQueue();
-};
-
-//===========================================================================
-

robotic/include/rai/MCTS/solver_MBTS.h

@@ -1,109 +0,0 @@
-/*  ------------------------------------------------------------------
-    Copyright (c) 2011-2024 Marc Toussaint
-    email: toussaint@tu-berlin.de
-
-    This code is distributed under the MIT License.
-    Please see <root-path>/LICENSE for details.
-    --------------------------------------------------------------  */
-
-#pragma once
-
-#include "../Logic/treeSearchDomain.h"
-#include "../Core/graph.h"
-#include "../Algo/priorityQueue.h"
-
-//===========================================================================
-
-struct MBTS;
-struct MBTS_Node;
-typedef rai::Array<MBTS_Node*> MBTS_NodeL;
-
-//===========================================================================
-
-struct MBTS_Node {
-  MBTS& MBTS;
-  TreeSearchDomain& world;
-  TreeSearchDomain::Handle action;
-  TreeSearchDomain::Handle state;
-  TreeSearchDomain::TransitionReturn ret;
-
-  MBTS_Node* parent;
-  rai::Array<MBTS_Node*> children;
-
-  uint d;      ///< decision depth of this node
-  double time; ///< real time
-
-  arr g; ///< cost-so-far for each level
-  arr h; ///< cost-to-go heuristic for each level
-
-  boolA isEvaluated; ///< for each level
-  boolA isInfeasible; ///< for each level
-  bool isTerminal=false; ///< for logic level only
-
-  /// root node init
-  MBTS_Node(MBTS& MBTS, TreeSearchDomain& world);
-
-  /// child node creation
-  MBTS_Node(MBTS_Node* parent, const TreeSearchDomain::Handle& a);
-
-  ~MBTS_Node() { NIY; }
-
-  //- computations on the node
-  void expand();           ///< expand this node (symbolically: compute possible decisions and add their effect nodes)
-
-  virtual void evaluate(int level=-1) { NIY; }
-
-  //-- helpers
-  void labelInfeasible(); ///< sets the infeasible label AND removes all children!
-  MBTS_NodeL getTreePath(); ///< return the decision path in terms of a list of nodes (just walking to the root)
-  MBTS_Node* getRoot(); ///< return the decision path in terms of a list of nodes (just walking to the root)
-  void getAllChildren(MBTS_NodeL& tree);
-
-  bool recomputeAllFolStates();
-  void recomputeAllMCStats(bool excludeLeafs=true);
-
-  void checkConsistency();
-
-  void write(ostream& os=cout, bool recursive=false) const;
-  void getGraph(Graph& G, Node* n=nullptr);
-  Graph getGraph() { Graph G; getGraph(G, nullptr); G.checkConsistency(); return G; }
-
-  void getAll(MBTS_NodeL& L);
-  MBTS_NodeL getAll() { MBTS_NodeL L; getAll(L); return L; }
-};
-stdOutPipe(MBTS_Node)
-
-//===========================================================================
-
-struct MBTS_Heuristic {
-  struct Return {
-    double g;
-    double h;
-    bool terminal;
-    bool feasible;
-  };
-
-  virtual ~MBTS_Heuristic() {}
-  virtual Return evaluate(MBTS_Node* n, int level);
-};
-
-//===========================================================================
-
-struct MBTS {
-  MBTS_Node* root;
-  rai::Array<PriorityQueue<MBTS_Node*>> queue; //for each level
-  MBTS_Heuristic& heuristic;
-
-  rai::Array<MBTS_Node*> solutions;
-  uint size, depth;
-
-  MBTS(TreeSearchDomain& world, MBTS_Heuristic& heuristic, uint L);
-
-  bool step(int level);
-  void run();
-
-  void reportQueue();
-};
-
-//===========================================================================
-