Validation of configurations and paths

Classes
struct	hpp::core::CollisionPathValidationReport
	Path validation report used for standard collision checking. More...
struct	hpp::core::CollisionValidationReport
struct	hpp::core::AllCollisionsValidationReport
class	hpp::core::CollisionValidation
class	hpp::core::ConfigValidation
class	hpp::core::ConfigValidations
class	hpp::core::ContinuousValidation
class	hpp::core::continuousValidation::Dichotomy
class	hpp::core::continuousValidation::Progressive
class	hpp::core::JointBoundValidationReport
	report returned when a configuration is not within the bounds More...
class	hpp::core::JointBoundValidation
struct	hpp::core::PathValidationReport
class	hpp::core::PathValidation
class	hpp::core::pathValidation::Discretized
class	hpp::core::PathValidations
struct	hpp::core::ProjectionError
	Handles projection errors when evaluating a path. More...
class	hpp::core::ValidationReport

Functions
static DichotomyPtr_t	hpp::core::continuousValidation::Dichotomy::create (const DevicePtr_t &robot, const value_type &tolerance)
virtual	hpp::core::continuousValidation::Dichotomy::~Dichotomy ()
	hpp::core::continuousValidation::Dichotomy::Dichotomy (const DevicePtr_t &robot, const value_type &tolerance)
void	hpp::core::continuousValidation::Dichotomy::init (const DichotomyWkPtr_t weak)
	Store weak pointer to itself.
static ProgressivePtr_t	hpp::core::continuousValidation::Progressive::create (const DevicePtr_t &robot, const value_type &tolerance)
virtual	hpp::core::continuousValidation::Progressive::~Progressive ()
	hpp::core::continuousValidation::Progressive::Progressive (const DevicePtr_t &robot, const value_type &tolerance)
void	hpp::core::continuousValidation::Progressive::init (const ProgressiveWkPtr_t weak)
	Store weak pointer to itself.
DiscretizedPtr_t	hpp::core::pathValidation::createDiscretizedCollisionChecking (const DevicePtr_t &robot, const value_type &stepSize)
	Validation of path by collision checking at discretized parameter values.
DiscretizedPtr_t	hpp::core::pathValidation::createDiscretizedJointBound (const DevicePtr_t &robot, const value_type &stepSize)
	Validation of path by checking joint bounds at discretized parameter values.
std::ostream &	hpp::core::operator<< (std::ostream &os, const ValidationReport &report)

Detailed Description

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization. Validation of a configuration or of a path gives rise to a validation report that provide information if validation failed.

Function Documentation

create() [1/2]

DichotomyPtr_t hpp::core::continuousValidation::Dichotomy::create ( const DevicePtr_t & robot, const value_type & tolerance )

static

Create instance and return shared pointer

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

create() [2/2]

ProgressivePtr_t hpp::core::continuousValidation::Progressive::create ( const DevicePtr_t & robot, const value_type & tolerance )

static

Create instance and return shared pointer

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

createDiscretizedCollisionChecking()

DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedCollisionChecking	(	const DevicePtr_t &	robot,
		const value_type &	stepSize )

Validation of path by collision checking at discretized parameter values.

createDiscretizedJointBound()

DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedJointBound	(	const DevicePtr_t &	robot,
		const value_type &	stepSize )

Validation of path by checking joint bounds at discretized parameter values.

Dichotomy()

hpp::core::continuousValidation::Dichotomy::Dichotomy ( const DevicePtr_t & robot, const value_type & tolerance )

protected

Constructor

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

init() [1/2]

void hpp::core::continuousValidation::Dichotomy::init ( const DichotomyWkPtr_t weak )

protected

Store weak pointer to itself.

init() [2/2]

void hpp::core::continuousValidation::Progressive::init ( const ProgressiveWkPtr_t weak )

protected

Store weak pointer to itself.

operator<<()

std::ostream & hpp::core::operator<< ( std::ostream & os, const ValidationReport & report )

inline

Progressive()

hpp::core::continuousValidation::Progressive::Progressive ( const DevicePtr_t & robot, const value_type & tolerance )

protected

Constructor

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

~Dichotomy()

virtual hpp::core::continuousValidation::Dichotomy::~Dichotomy ( )

virtual

~Progressive()

virtual hpp::core::continuousValidation::Progressive::~Progressive ( )

virtual