validation.hh

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// Copyright (c) 2019, LAAS-CNRS
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
//
 
// Redistribution and use in source and binary forms, with or without
// 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.
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef HPP_MANIPULATION_GRAPH_VALIDATION_REPORT_HH
#define HPP_MANIPULATION_GRAPH_VALIDATION_REPORT_HH
 
#include <hpp/core/validation-report.hh>
#include <hpp/manipulation/config.hh>
#include <hpp/manipulation/fwd.hh>
#include <hpp/manipulation/graph/fwd.hh>
#include <hpp/manipulation/graph/graph.hh>
#include <string>
#include <vector>
 
namespace hpp {
namespace manipulation {
namespace graph {

class HPP_MANIPULATION_DLLAPI Validation {
 public:
  typedef std::vector<std::string> Collision;
  typedef std::vector<Collision> CollisionList;
  typedef std::map<std::string, CollisionList> CollisionMap;
  Validation(const core::ProblemPtr_t& problem) : problem_(problem) {}
 
  void clear() {
    warnings_.clear();
    errors_.clear();
  }
 
  bool hasWarnings() const { return !warnings_.empty(); }
 
  bool hasErrors() const { return !errors_.empty(); }
 
  virtual std::ostream& print(std::ostream& os) const;

  bool validate(const GraphComponentPtr_t& comp);

  bool validateState(const StatePtr_t& state);

  bool validateEdge(const EdgePtr_t& edge);

  bool validateGraph(const GraphPtr_t& graph);
 
  CollisionList getCollisionsForNode(const std::string& nodeName) {
    return collisions_[nodeName];
  }
 
 private:
  void addWarning(const GraphComponentPtr_t& c, const std::string& w) {
    warnings_.push_back(Message(c, w));
  }
 
  void addError(const GraphComponentPtr_t& c, const std::string& w) {
    errors_.push_back(Message(c, w));
  }
 
  void addCollision(const GraphComponentPtr_t& c, const std::string& obj1,
                    const std::string& obj2) {
    Collision coll = Collision{obj1, obj2};
    collisions_[c->name()].push_back(coll);
  }
 
  typedef std::pair<GraphComponentPtr_t, std::string> Message;
  std::vector<Message> warnings_, errors_;
  CollisionMap collisions_;
 
  core::ProblemPtr_t problem_;
};
 
inline std::ostream& operator<<(std::ostream& os, const Validation& v) {
  return v.print(os);
}

}  // namespace graph
}  // namespace manipulation
 
}  // namespace hpp
 
#endif  // HPP_MANIPULATION_GRAPH_VALIDATION_REPORT_HH