hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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rbprm-rom-validation.hh
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1//
2// Copyright (c) 2014 CNRS
3// Authors: Steve Tonneau
4//
5// This file is part of hpp-rbprm
6// hpp-rbprm 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_ROM_VALIDATION_HH
20#define HPP_RBPRM_ROM_VALIDATION_HH
21
22#include <hpp/core/collision-validation.hh>
23#include <hpp/rbprm/config.hh>
25
26namespace hpp {
27namespace rbprm {
28
29class RbPrmRomValidation;
30typedef shared_ptr<RbPrmRomValidation> RbPrmRomValidationPtr_t;
31
34
41class HPP_RBPRM_DLLAPI RbPrmRomValidation : public core::CollisionValidation {
42 public:
44 const pinocchio::DevicePtr_t& robot,
45 const std::vector<std::string>& affFilters = std::vector<std::string>());
46
51 virtual bool validate(const core::Configuration_t& config);
52
60 virtual bool validate(const core::Configuration_t& config,
61 core::ValidationReportPtr_t& validationReport);
62
67
68 public:
69 const std::vector<std::string> filter_;
70
71 void setOptional(bool optional) { optional_ = optional; }
72
73 protected:
74 RbPrmRomValidation(const pinocchio::DevicePtr_t& robot,
75 const std::vector<std::string>& affFilters);
76
77 private:
78 core::ValidationReportPtr_t unusedReport_;
79 bool optional_;
80
81}; // class RbPrmValidation
83} // namespace rbprm
84} // namespace hpp
85
86#endif // HPP_RBPRM_ROM_VALIDATION_HH
Definition: rbprm-rom-validation.hh:41
RbPrmRomValidation(const pinocchio::DevicePtr_t &robot, const std::vector< std::string > &affFilters)
virtual bool validate(const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport)
const std::vector< std::string > filter_
Definition: rbprm-rom-validation.hh:69
virtual void randomnizeCollisionPairs()
randomnizeCollisionPairs
virtual bool validate(const core::Configuration_t &config)
void setOptional(bool optional)
Definition: rbprm-rom-validation.hh:71
static RbPrmRomValidationPtr_t create(const pinocchio::DevicePtr_t &robot, const std::vector< std::string > &affFilters=std::vector< std::string >())
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
shared_ptr< RbPrmRomValidation > RbPrmRomValidationPtr_t
Definition: rbprm-rom-validation.hh:30
Definition: algorithm.hh:26