30 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH 31 #define HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH 37 namespace continuousValidation {
87 std::string name()
const;
89 std::ostream& print(std::ostream& os)
const;
99 return m_->coefficients;
109 return (m_->joint_a ? m_->joint_a->index() : 0);
113 return (m_->joint_b ? m_->joint_b->index() : 0);
141 void init(
const SolidSolidCollisionWkPtr_t& weak);
144 typedef pinocchio::JointIndex JointIndex;
145 typedef std::vector<JointIndex> JointIndices_t;
150 CoefficientVelocities_t coefficients;
151 CoefficientVelocities_t coefficients_reverse;
152 JointIndices_t computeSequenceOfJoints()
const;
153 CoefficientVelocities_t computeCoefficients(
154 const JointIndices_t& joints)
const;
155 void setCoefficients(
const JointIndices_t& joints);
157 shared_ptr<Model> m_;
158 SolidSolidCollisionWkPtr_t weak_;
163 #endif // HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH JointPtr_t joint_
Joint the degrees of freedom of which the bounds correspond to.
Definition: solid-solid-collision.hh:41
Definition: bi-rrt-planner.hh:35
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:185
pinocchio::size_type size_type
Definition: fwd.hh:173
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
Definition: solid-solid-collision.hh:38
size_type indexJointA() const
Returns joint A index or -1 if no such joint exists.
Definition: solid-solid-collision.hh:108
const CoefficientVelocities_t & coefficients() const
Definition: solid-solid-collision.hh:98
const JointPtr_t & joint_b() const
Get joint b.
Definition: solid-solid-collision.hh:105
value_type value_
Definition: solid-solid-collision.hh:42
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:264
pinocchio::vector_t vector_t
Definition: fwd.hh:220
pinocchio::value_type value_type
Definition: fwd.hh:174
std::vector< CoefficientVelocity > CoefficientVelocities_t
Definition: solid-solid-collision.hh:44
SolidSolidCollision(const SolidSolidCollision &other)
Copy constructor.
Definition: solid-solid-collision.hh:138
const JointPtr_t & joint_a() const
Get joint a.
Definition: solid-solid-collision.hh:103
Definition: body-pair-collision.hh:62
size_type indexJointB() const
Returns joint B index or -1 if no such joint exists.
Definition: solid-solid-collision.hh:112
CoefficientVelocity()
Definition: solid-solid-collision.hh:39
Definition: solid-solid-collision.hh:55
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:261
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99