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virtual bool | validate (const Configuration_t &config, ValidationReportPtr_t &validationReport) |
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void | checkParameterized (bool active) |
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void | computeAllContacts (bool computeAllContacts) |
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bool | checkParameterized () const |
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virtual bool | validate (const Configuration_t &config, ValidationReportPtr_t &validationReport)=0 |
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virtual | ~ConfigValidation ()=default |
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virtual | ~ObstacleUser ()=default |
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const CollisionPairs_t & | pairs () const |
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CollisionPairs_t & | pairs () |
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const CollisionRequests_t & | requests () const |
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CollisionRequests_t & | requests () |
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fcl::CollisionRequest & | defaultRequest () |
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void | setRequests (const fcl::CollisionRequest &r) |
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virtual void | addObstacle (const CollisionObjectConstPtr_t &object) |
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virtual void | addObstacleToJoint (const CollisionObjectConstPtr_t &object, const JointPtr_t &joint, const bool includeChildren) |
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virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object) |
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virtual void | filterCollisionPairs (const RelativeMotion::matrix_type &relMotion) |
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virtual void | setSecurityMargins (const matrix_t &securityMatrix) |
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virtual void | setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin) |
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virtual | ~ObstacleUserInterface ()=default |
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virtual void | addObstacle (const CollisionObjectConstPtr_t &object)=0 |
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virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object)=0 |
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virtual void | filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)=0 |
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virtual void | setSecurityMargins (const matrix_t &securityMatrix)=0 |
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virtual void | setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)=0 |
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Validate a configuration with respect to collision