19 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
20 # define HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
22 # include <boost/icl/continuous_interval.hpp>
23 # include <boost/icl/interval_set.hpp>
25 # include <hpp/fcl/collision_data.h>
33 namespace continuousValidation {
68 const pinocchio::DeviceData& data);
97 return maximalVelocity_;
109 virtual std::string
name ()
const = 0;
110 virtual std::ostream&
print (std::ostream& os)
const = 0;
118 return m_->requests[0].security_margin;
123 for (
auto& request : m_->requests)
139 maximalVelocity_(other.maximalVelocity_)
143 fcl::CollisionResult result,
157 shared_ptr<Model> m_;
168 virtual void setupPath();
183 virtual bool computeDistanceLowerBound(
value_type &distanceLowerBound,
185 const pinocchio::DeviceData& data);
192 return pair.
print (os);
Definition: body-pair-collision.hh:53
bool validateConfiguration(const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)
virtual void addCollisionPair(const CollisionObjectConstPtr_t &, const CollisionObjectConstPtr_t &)
Definition: body-pair-collision.hh:106
virtual void setReport(ValidationReportPtr_t &report, fcl::CollisionResult result, CollisionPair_t _pair) const
Definition: body-pair-collision.hh:142
virtual bool removeObjectTo_b(const CollisionObjectConstPtr_t &)
Definition: body-pair-collision.hh:105
const CollisionRequests_t & requests() const
Definition: body-pair-collision.hh:83
value_type securityMargin() const
Get security margin of the first pair of object.
Definition: body-pair-collision.hh:116
CollisionPairs_t & pairs()
Definition: body-pair-collision.hh:77
CollisionRequests_t & requests()
Definition: body-pair-collision.hh:89
virtual std::string name() const =0
BodyPairCollision(value_type tolerance)
Definition: body-pair-collision.hh:131
virtual size_type indexJointA() const
Returns joint A index or -1 if no such joint exists.
Definition: body-pair-collision.hh:101
void securityMargin(const value_type &securityMargin)
Set security margin.
Definition: body-pair-collision.hh:121
BodyPairCollision(const BodyPairCollision &other)
Copy constructor.
Definition: body-pair-collision.hh:137
const CollisionPairs_t & pairs() const
Definition: body-pair-collision.hh:71
virtual std::ostream & print(std::ostream &os) const =0
virtual size_type indexJointB() const
Returns joint B index or -1 if no such joint exists.
Definition: body-pair-collision.hh:103
value_type maximalVelocity() const
Definition: body-pair-collision.hh:95
Definition: interval-validation.hh:58
value_type tolerance() const
Definition: interval-validation.hh:90
std::ostream & operator<<(std::ostream &os, const BodyPairCollision &pair)
Definition: body-pair-collision.hh:189
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:221
pinocchio::value_type value_type
Definition: fwd.hh:157
pinocchio::vector_t vector_t
Definition: fwd.hh:202
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:207
std::vector< fcl::CollisionRequest > CollisionRequests_t
Definition: collision-pair.hh:32
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:86
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
Definition: bi-rrt-planner.hh:24
Definition: collision-pair.hh:34
Definition: collision-validation-report.hh:37