hpp-rbprm 4.14.0
Implementation of RB-PRM planner using hpp.
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time-constraint-path-validation.hh
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1//
2// Copyright (c) 2015 CNRS
3// Authors: Florent Lamiraux
4//
5// This file is part of hpp-core
6// hpp-core 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_TIME_CONSTRAINT_PATH_VALIDATION_HH
20#define HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
21
22#include <hpp/core/path-validation/discretized.hh>
23
24namespace hpp {
25namespace rbprm {
26namespace interpolation {
28
30typedef shared_ptr<TimeConstraintPathValidation>
34
39class HPP_CORE_DLLAPI TimeConstraintPathValidation
40 : public core::pathValidation::Discretized {
41 public:
43 const pinocchio::DevicePtr_t& robot,
44 const pinocchio::value_type& stepSize, const std::size_t pathDofRank);
45
59 virtual bool validate(const core::PathPtr_t& path, bool reverse,
60 core::PathPtr_t& validPart,
61 core::PathValidationReportPtr_t& report);
62
63 public:
64 const std::size_t pathDofRank_;
65
66 protected:
67 TimeConstraintPathValidation(const pinocchio::DevicePtr_t& robot,
68 const pinocchio::value_type& stepSize,
69 const std::size_t pathDofRank);
70}; // class DiscretizedPathValidation
72} // namespace interpolation
73} // namespace rbprm
74} // namespace hpp
75
76#endif // HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
Definition: time-constraint-path-validation.hh:40
virtual bool validate(const core::PathPtr_t &path, bool reverse, core::PathPtr_t &validPart, core::PathValidationReportPtr_t &report)
static TimeConstraintPathValidationPtr_t create(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
const std::size_t pathDofRank_
Definition: time-constraint-path-validation.hh:64
TimeConstraintPathValidation(const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
HPP_PREDEF_CLASS(ComTrajectory)
shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:31
Definition: algorithm.hh:26