hpp-rbprm 4.15.1
Implementation of RB-PRM planner using hpp.
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#include <hpp/rbprm/rbprm-rom-validation.hh>
Public Member Functions | |
virtual bool | validate (const core::Configuration_t &config) |
virtual bool | validate (const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport) |
virtual void | randomnizeCollisionPairs () |
randomnizeCollisionPairs More... | |
void | setOptional (bool optional) |
Static Public Member Functions | |
static RbPrmRomValidationPtr_t | create (const pinocchio::DevicePtr_t &robot, const std::vector< std::string > &affFilters=std::vector< std::string >()) |
Public Attributes | |
const std::vector< std::string > | filter_ |
Protected Member Functions | |
RbPrmRomValidation (const pinocchio::DevicePtr_t &robot, const std::vector< std::string > &affFilters) | |
Validate a Rom configuration with respect to the reachability condition; a Rom Configuration is valid the object linked to it is colliding with the environment. A normal filter can be optionnaly specified to only accept collision with obstacles aligned with special normal surfaces.
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randomnizeCollisionPairs
Rearrange the collisions pairs of all configValidation in a random manner
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Compute whether the configuration is valid
config | the config to check for validity |
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Compute whether the configuration is valid
config | the config to check for validity, |
validationReport | report on validation (used only for rom shape). This parameter will dynamically cast into CollisionValidationReport type, |
const std::vector<std::string> hpp::rbprm::RbPrmRomValidation::filter_ |