hpp-core 5.0.0
Implement basic classes for canonical path planning for kinematic chains.
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hpp::core::pathValidation::Discretized Class Reference

#include <hpp/core/path-validation/discretized.hh>

Inheritance diagram for hpp::core::pathValidation::Discretized:
Collaboration diagram for hpp::core::pathValidation::Discretized:

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 bool validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)=0
 
virtual bool validate (ConfigurationIn_t q, ValidationReportPtr_t &report)
 
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. More...
 
size_type numberConfigValidations () const
 Return the number of config validations. More...
 
- Public Member Functions inherited from hpp::core::ConfigValidation
virtual bool validate (const Configuration_t &config, ValidationReportPtr_t &validationReport)=0
 
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
 
virtual void addObstacle (const CollisionObjectConstPtr_t &object)=0
 
virtual void removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object)=0
 
virtual void filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)=0
 
virtual void setSecurityMargins (const matrix_t &securityMatrix)=0
 
virtual void setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)=0
 

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_tvalues_t
 

Detailed Description

Discretized validation of a path

Apply some configuration validation algorithms at discretized values of the path parameter.

Constructor & Destructor Documentation

◆ ~Discretized()

virtual hpp::core::pathValidation::Discretized::~Discretized ( )
inlinevirtual

◆ Discretized() [1/2]

hpp::core::pathValidation::Discretized::Discretized ( const value_type stepSize)
inlineprotected

◆ Discretized() [2/2]

hpp::core::pathValidation::Discretized::Discretized ( const value_type stepSize,
std::initializer_list< ConfigValidationPtr_t validations 
)
inlineprotected

Member Function Documentation

◆ create() [1/2]

static DiscretizedPtr_t hpp::core::pathValidation::Discretized::create ( const value_type stepSize)
static

◆ create() [2/2]

static DiscretizedPtr_t hpp::core::pathValidation::Discretized::create ( const value_type stepSize,
std::initializer_list< ConfigValidationPtr_t validations 
)
static

◆ validate() [1/2]

virtual bool hpp::core::pathValidation::Discretized::validate ( ConfigurationIn_t  q,
ValidationReportPtr_t report 
)
virtual

Validate a single configuration

Parameters
qinput configuration,
Return values
reportvalidation report. The default implementation builds a straight path of length 0 with the input configuration and validates the path.

Reimplemented from hpp::core::PathValidation.

◆ validate() [2/2]

virtual bool hpp::core::pathValidation::Discretized::validate ( const PathPtr_t path,
bool  reverse,
PathPtr_t validPart,
PathValidationReportPtr_t report 
)
virtual

Compute the largest valid interval starting from the path beginning

Parameters
paththe path to check for validity,
reverseif true check from the end,
Return values
theextracted valid part of the path, pointer to path if path is valid.
reportinformation about the validation process. A report is allocated if the path is not valid.
Returns
whether the whole path is valid.

Implements hpp::core::PathValidation.

Member Data Documentation

◆ stepSize_

value_type hpp::core::pathValidation::Discretized::stepSize_
protected

The documentation for this class was generated from the following file: