interval-validation.hh

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//
// Copyright (c) 2014,2015,2016,2018 CNRS
// Authors: Florent Lamiraux, Joseph Mirabel, Diane Bury
//
 
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// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
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// 2. Redistributions in binary form must reproduce the above copyright
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#ifndef HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH
#define HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH
 
#include <coal/collision.h>
#include <coal/collision_data.h>
 
#include <boost/icl/continuous_interval.hpp>
#include <boost/icl/interval_set.hpp>
#include <hpp/core/deprecated.hh>
#include <hpp/core/fwd.hh>
#include <hpp/pinocchio/body.hh>
#include <hpp/pinocchio/collision-object.hh>
#include <hpp/pinocchio/joint.hh>
#include <iterator>
#include <limits>
 
namespace hpp {
namespace core {
namespace continuousValidation {
class IntervalValidation {
 public:
  virtual bool validateConfiguration(const value_type& t, interval_t& interval,
                                     ValidationReportPtr_t& report,
                                     const pinocchio::DeviceData& data) = 0;

  void path(const PathPtr_t& path, bool reverse) {
    path_ = path;
    reverse_ = reverse;
    valid_ = false;
    validInterval_ = interval_set();
    setupPath();
  }

  PathConstPtr_t path() const { return path_; }
 
  value_type tolerance() const { return tolerance_; }
 
  virtual std::string name() const = 0;
  virtual std::ostream& print(std::ostream& os) const = 0;
  virtual IntervalValidationPtr_t copy() const = 0;
 
 protected:
  typedef boost::icl::continuous_interval<value_type> continuous_interval;
  typedef boost::icl::interval_set<value_type> interval_set;
  PathPtr_t path_;
  value_type tolerance_;
  bool reverse_;
  bool refine_;
  bool valid_;
  interval_set validInterval_;
  IntervalValidation(value_type tolerance)
      : tolerance_(tolerance), reverse_(false), refine_(true) {
    if (tolerance < 0) {
      throw std::runtime_error("tolerance should be non-negative.");
    }
  }
 
  IntervalValidation(const IntervalValidation& other)
      : tolerance_(other.tolerance_), refine_(true) {
    if (tolerance_ < 0) {
      throw std::runtime_error("tolerance should be non-negative.");
    }
  }
 
 private:
  virtual void setupPath() = 0;
};  // class IntervalValidation
 
inline std::ostream& operator<<(std::ostream& os, const IntervalValidation& b) {
  return b.print(os);
}
}  // namespace continuousValidation
}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH