hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/interpolation/time-constraint-path-validation.hh>
Public Member Functions | |
virtual bool | validate (const core::PathPtr_t &path, bool reverse, core::PathPtr_t &validPart, core::PathValidationReportPtr_t &report) |
Static Public Member Functions | |
static TimeConstraintPathValidationPtr_t | create (const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank) |
Public Attributes | |
const std::size_t | pathDofRank_ |
Protected Member Functions | |
TimeConstraintPathValidation (const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank) | |
Discretized validation of a path for the LimbRRT algorithm
Apply some configuration validation algorithms at discretized values of the path parameter.
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protected |
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static |
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virtual |
Compute the largest valid interval starting from the path beginning In the context of the LimbRRT algoritm, a path is only valid if the extra DOF value of the first configuration of the path is lower than the one of the last configuration. See the documentation of interpolateStates for details
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. |
const std::size_t hpp::rbprm::interpolation::TimeConstraintPathValidation::pathDofRank_ |