30#ifndef HPP_CORE_COLLISION_VALIDATION_HH
31#define HPP_CORE_COLLISION_VALIDATION_HH
33#include <coal/collision_data.h>
74 bool checkParameterized_;
75 bool computeAllContacts_;
static CollisionValidationPtr_t create(const DevicePtr_t &robot)
virtual bool validate(const Configuration_t &config, ValidationReportPtr_t &validationReport)
void computeAllContacts(bool computeAllContacts)
Definition collision-validation.hh:63
DevicePtr_t robot_
Definition collision-validation.hh:71
void checkParameterized(bool active)
Definition collision-validation.hh:61
bool checkParameterized() const
Definition collision-validation.hh:67
CollisionValidation(const DevicePtr_t &robot)
ConfigValidation()=default
ObstacleUser(DevicePtr_t robot)
Constructor of body pair collision.
Definition obstacle-user.hh:251
#define HPP_CORE_DLLAPI
Definition config.hh:88
Definition bi-rrt-planner.hh:36
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition fwd.hh:95
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition fwd.hh:225
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
Definition bi-rrt-planner.hh:35