|
hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
|
#include <hpp/core/path-validation/discretized.hh>


Public Member Functions | |
| virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report) |
| virtual bool | validate (ConfigurationIn_t q, ValidationReportPtr_t &report) |
| virtual | ~Discretized () |
Public Member Functions inherited from hpp::core::PathValidation | |
| virtual | ~PathValidation () |
Public Member Functions inherited from hpp::core::ConfigValidations | |
| virtual bool | validate (const Configuration_t &config, ValidationReportPtr_t &validationReport) |
| void | add (const ConfigValidationPtr_t &configValidation) |
| Add a configuration validation object. | |
| size_type | numberConfigValidations () const |
| Return the number of config validations. | |
Public Member Functions inherited from hpp::core::ConfigValidation | |
| virtual | ~ConfigValidation ()=default |
Public Member Functions inherited from hpp::core::ObstacleUserVector< ConfigValidationPtr_t > | |
| virtual | ~ObstacleUserVector ()=default |
| void | addObstacle (const CollisionObjectConstPtr_t &object) |
| void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object) |
| void | filterCollisionPairs (const RelativeMotion::matrix_type &relMotion) |
| void | setSecurityMargins (const matrix_t &securityMatrix) |
| void | setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin) |
| void | clear () |
Public Member Functions inherited from hpp::core::ObstacleUserInterface | |
| virtual | ~ObstacleUserInterface ()=default |
Static Public Member Functions | |
| static DiscretizedPtr_t | create (const value_type &stepSize) |
| static DiscretizedPtr_t | create (const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations) |
Static Public Member Functions inherited from hpp::core::ConfigValidations | |
| static ConfigValidationsPtr_t | create () |
Protected Member Functions | |
| Discretized (const value_type &stepSize) | |
| Discretized (const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations) | |
Protected Member Functions inherited from hpp::core::PathValidation | |
| PathValidation () | |
Protected Member Functions inherited from hpp::core::ConfigValidations | |
| ConfigValidations ()=default | |
| ConfigValidations (std::initializer_list< ConfigValidationPtr_t > validations) | |
Protected Member Functions inherited from hpp::core::ConfigValidation | |
| ConfigValidation ()=default | |
Protected Member Functions inherited from hpp::core::ObstacleUserVector< ConfigValidationPtr_t > | |
| ObstacleUserVector ()=default | |
| ObstacleUserVector (std::initializer_list< value_t > validations) | |
Protected Attributes | |
| value_type | stepSize_ |
Protected Attributes inherited from hpp::core::ObstacleUserVector< ConfigValidationPtr_t > | |
| values_t | validations_ |
Additional Inherited Members | |
Protected Types inherited from hpp::core::ObstacleUserVector< ConfigValidationPtr_t > | |
| typedef ConfigValidationPtr_t | value_t |
| typedef std::vector< value_t > | values_t |
Discretized validation of a path
Apply some configuration validation algorithms at discretized values of the path parameter.
|
inlinevirtual |
|
inlineprotected |
|
inlineprotected |
|
static |
|
static |
|
virtual |
Validate a single configuration
| q | input configuration, |
| report | validation report. The default implementation builds a straight path of length 0 with the input configuration and validates the path. |
Reimplemented from hpp::core::PathValidation.
|
virtual |
Compute the largest valid interval starting from the path beginning
| path | the path to check for validity, |
| reverse | if true check from the end, |
| the | extracted valid part of the path, pointer to path if path is valid. |
| report | information about the validation process. A report is allocated if the path is not valid. |
Implements hpp::core::PathValidation.
|
protected |