hpp-rbprm  4.13.0
Implementation of RB-PRM planner using hpp.
dynamic-path-validation.hh
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1 //
2 // Copyright (c) 2017 CNRS
3 // Authors: Fernbach Pierre
4 //
5 // This file is part of hpp-rbprm
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 //
11 // hpp-core is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_DYNAMIC_PATH_VALIDATION_HH
20 #define HPP_RBPRM_DYNAMIC_PATH_VALIDATION_HH
23 namespace hpp {
24 namespace rbprm {
25 
26 // forward declaration
27 HPP_PREDEF_CLASS(DynamicPathValidation);
28 // Planner objects are manipulated only via shared pointers
29 typedef shared_ptr<DynamicPathValidation> DynamicPathValidationPtr_t;
30 
32  public:
34  static DynamicPathValidationPtr_t create(const core::DevicePtr_t& robot,
35  const core::value_type& stepSize);
36 
38  virtual bool validate(const core::PathPtr_t& path, bool reverse,
39  core::PathPtr_t& validPart,
40  core::PathValidationReportPtr_t& report,
41  const std::vector<std::string>& filter);
42 
43  virtual bool validate(const core::PathPtr_t& path, bool reverse,
44  core::PathPtr_t& validPart,
45  core::PathValidationReportPtr_t& report);
46 
47  void addDynamicValidator(const DynamicValidationPtr_t& dynamicValidation) {
48  core::pathValidation::Discretized::add(dynamicValidation);
49  dynamicValidation_ = dynamicValidation;
50  }
51 
52  protected:
55  DynamicPathValidation(const core::DevicePtr_t& robot,
56  const core::value_type& stepSize);
57 
58  private:
59  DynamicValidationPtr_t dynamicValidation_;
60 }; // class RbPrmPlanner
61 } // namespace rbprm
62 } // namespace hpp
63 
64 #endif // HPP_RBPRM_DYNAMIC_PATH_VALIDATION_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:26
shared_ptr< DynamicValidation > DynamicValidationPtr_t
Definition: dynamic-validation.hh:48
void addDynamicValidator(const DynamicValidationPtr_t &dynamicValidation)
Definition: dynamic-path-validation.hh:47
HPP_PREDEF_CLASS(RbPrmFullBody)
Definition: dynamic-path-validation.hh:31
Definition: rbprm-path-validation.hh:33
shared_ptr< DynamicPathValidation > DynamicPathValidationPtr_t
Definition: dynamic-path-validation.hh:29