hpp-core  4.11.0
Implement basic classes for canonical path planning for kinematic chains.
collision-validation.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
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12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
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14 // General Lesser Public License for more details. You should have
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16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_CORE_COLLISION_VALIDATION_HH
20 # define HPP_CORE_COLLISION_VALIDATION_HH
21 
24 # include <hpp/core/obstacle-user.hh>
25 # include <hpp/fcl/collision_data.h>
26 
27 namespace hpp {
28  namespace core {
31 
35  public ConfigValidation,
36  public ObstacleUser
37  {
38  public:
39  static CollisionValidationPtr_t create (const DevicePtr_t& robot);
40 
48  virtual bool validate (const Configuration_t& config,
49  ValidationReportPtr_t& validationReport);
50 
51  void checkParameterized (bool active)
52  {
53  checkParameterized_ = active;
54  }
55 
56  void computeAllContacts (bool computeAllContacts)
57  {
58  computeAllContacts_ = computeAllContacts;
59  }
60 
61  bool checkParameterized () const
62  {
63  return checkParameterized_;
64  }
65 
66  protected:
67  CollisionValidation (const DevicePtr_t& robot);
69 
70  private:
71  bool checkParameterized_;
72  bool computeAllContacts_;
73 
74  }; // class ConfigValidation
76  } // namespace core
77 } // namespace hpp
78 
79 #endif // HPP_CORE_COLLISION_VALIDATION_HH
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
bool checkParameterized() const
Definition: collision-validation.hh:61
Definition: bi-rrt-planner.hh:24
void computeAllContacts(bool computeAllContacts)
Definition: collision-validation.hh:56
Definition: collision-validation.hh:34
DevicePtr_t robot_
Definition: collision-validation.hh:68
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:207
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition: fwd.hh:84
Definition: config-validation.hh:35
void checkParameterized(bool active)
Definition: collision-validation.hh:51
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
Stores a set of obstacles (movable or static).
Definition: obstacle-user.hh:186