19#ifndef HPP_RBPRM_VALIDATION_HH
20#define HPP_RBPRM_VALIDATION_HH
22#include <hpp/core/collision-validation-report.hh>
23#include <hpp/core/collision-validation.hh>
24#include <hpp/core/config-validation.hh>
25#include <hpp/core/problem-solver.hh>
37typedef hpp::core::Container<hpp::core::AffordanceObjects_t>
affMap_t;
50 const std::vector<std::string>& filter = std::vector<std::string>(),
51 const std::map<std::string, std::vector<std::string> >& affFilters =
52 std::map<std::string, std::vector<std::string> >(),
54 const core::ObjectStdVector_t& geometries = core::ObjectStdVector_t());
61 virtual bool validate(
const core::Configuration_t& config);
70 virtual bool validate(
const core::Configuration_t& config,
71 core::ValidationReportPtr_t& validationReport);
80 virtual bool validate(
const core::Configuration_t& config,
81 const std::vector<std::string>& filter);
92 virtual bool validate(
const core::Configuration_t& config,
93 core::ValidationReportPtr_t& validationReport,
94 const std::vector<std::string>& filter);
102 virtual void addObstacle(
const core::CollisionObjectConstPtr_t&
object);
110 const core::JointPtr_t& joint,
111 const core::CollisionObjectPtr_t& obstacle);
134 virtual bool validateTrunk(
135 const core::Configuration_t& config,
136 hpp::core::ValidationReportPtr_t& validationReport);
141 bool validateRoms(
const core::Configuration_t& config);
148 bool validateRoms(
const core::Configuration_t& config,
156 bool validateRoms(
const core::Configuration_t& config,
157 const std::vector<std::string>& filter);
164 bool validateRoms(
const core::Configuration_t& config,
165 const std::vector<std::string>& filter,
179 const std::vector<std::string>& filter,
180 const std::map<std::string, std::vector<std::string> >& affFilters,
181 const affMap_t& affordances,
const core::ObjectStdVector_t& geometries);
184 core::ValidationReportPtr_t unusedReport_;
Definition: rbprm-validation.hh:46
static RbPrmValidationPtr_t create(const pinocchio::RbPrmDevicePtr_t &robot, const std::vector< std::string > &filter=std::vector< std::string >(), const std::map< std::string, std::vector< std::string > > &affFilters=std::map< std::string, std::vector< std::string > >(), const affMap_t &affordances=affMap_t(), const core::ObjectStdVector_t &geometries=core::ObjectStdVector_t())
std::vector< std::string > defaultFilter_
Definition: rbprm-validation.hh:174
virtual void addObstacle(const core::CollisionObjectConstPtr_t &object)
void computeAllContacts(bool computeAllContacts)
set if the collision validation should compute all the possible contacts or stop after the first pair...
const T_RomValidation romValidations_
CollisionValidation for the range of motion of the limbs.
Definition: rbprm-validation.hh:173
const core::JointBoundValidationPtr_t boundValidation_
Definition: rbprm-validation.hh:171
virtual void randomnizeCollisionPairs()
randomnizeCollisionPairs
RbPrmValidation(const pinocchio::RbPrmDevicePtr_t &robot, const std::vector< std::string > &filter, const std::map< std::string, std::vector< std::string > > &affFilters, const affMap_t &affordances, const core::ObjectStdVector_t &geometries)
virtual bool validate(const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport, const std::vector< std::string > &filter)
virtual bool validate(const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport)
virtual bool validate(const core::Configuration_t &config, const std::vector< std::string > &filter)
virtual bool validate(const core::Configuration_t &config)
virtual void removeObstacleFromJoint(const core::JointPtr_t &joint, const core::CollisionObjectPtr_t &obstacle)
const core::CollisionValidationPtr_t trunkValidation_
CollisionValidation for the trunk.
Definition: rbprm-validation.hh:170
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
shared_ptr< RbprmValidationReport > RbprmValidationReportPtr_t
Definition: rbprm-validation-report.hh:29
shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:28
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
shared_ptr< RbPrmValidation > RbPrmValidationPtr_t
Definition: rbprm-validation.hh:35
std::map< std::string, RbPrmRomValidationPtr_t > T_RomValidation
Definition: rbprm-validation.hh:36
Definition: algorithm.hh:26