Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization. More...
Classes | |
struct | hpp::core::CollisionPathValidationReport |
Abstraction of path validation report. More... | |
struct | hpp::core::CollisionValidationReport |
Validate a configuration with respect to collision. More... | |
class | hpp::core::CollisionValidation |
Validate a configuration with respect to collision. More... | |
class | hpp::core::ConfigValidation |
Abstraction of configuration validation. More... | |
class | hpp::core::ConfigValidations |
Validate a configuration with respect to collision. More... | |
class | hpp::core::continuousCollisionChecking::Dichotomy |
Continuous validation of a path for collision. More... | |
class | hpp::core::continuousCollisionChecking::Progressive |
Continuous validation of a path for collision. More... | |
class | hpp::core::DiscretizedCollisionChecking |
Validation of path by collision checking at discretized parameter values. More... | |
class | hpp::core::JointBoundException |
Exception thrown when a configuration is not within the bounds. More... | |
class | hpp::core::JointBoundValidation |
Validate a configuration with respect to joint bounds. More... | |
class | hpp::core::PathValidation |
Abstraction of path validation. More... | |
class | hpp::core::ValidationReport |
Abstraction of validation report for paths and configurations. More... | |
Typedefs | |
typedef boost::shared_ptr < BodyPairCollision > | hpp::core::continuousCollisionChecking::dichotomy::BodyPairCollisionPtr_t |
typedef std::list < BodyPairCollisionPtr_t > | hpp::core::continuousCollisionChecking::dichotomy::BodyPairCollisions_t |
typedef boost::shared_ptr < BodyPairCollision > | hpp::core::continuousCollisionChecking::progressive::BodyPairCollisionPtr_t |
typedef std::list < BodyPairCollisionPtr_t > | hpp::core::continuousCollisionChecking::progressive::BodyPairCollisions_t |
Functions | |
hpp::core::continuousCollisionChecking::dichotomy::HPP_PREDEF_CLASS (BodyPairCollision) | |
static DichotomyPtr_t | hpp::core::continuousCollisionChecking::Dichotomy::create (const DevicePtr_t &robot, const value_type &tolerance) |
Create instance and return shared pointer. | |
virtual bool | hpp::core::continuousCollisionChecking::Dichotomy::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart) |
Compute a valid interval starting from the path beginning. | |
virtual bool | hpp::core::continuousCollisionChecking::Dichotomy::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &report) |
Compute a valid interval starting from the path beginning. | |
virtual void | hpp::core::continuousCollisionChecking::Dichotomy::addObstacle (const CollisionObjectPtr_t &object) |
Add an obstacle. | |
virtual void | hpp::core::continuousCollisionChecking::Dichotomy::removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. | |
virtual | hpp::core::continuousCollisionChecking::Dichotomy::~Dichotomy () |
hpp::core::continuousCollisionChecking::Dichotomy::Dichotomy (const DevicePtr_t &robot, const value_type &tolerance) | |
Constructor. | |
static ProgressivePtr_t | hpp::core::continuousCollisionChecking::Progressive::create (const DevicePtr_t &robot, const value_type &tolerance) |
Create instance and return shared pointer. | |
virtual bool | hpp::core::continuousCollisionChecking::Progressive::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart) |
Compute a valid interval starting from the path beginning. | |
virtual bool | hpp::core::continuousCollisionChecking::Progressive::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &validationReport) |
Compute a valid interval starting from the path beginning. | |
virtual void | hpp::core::continuousCollisionChecking::Progressive::addObstacle (const CollisionObjectPtr_t &object) |
Add an obstacle. | |
virtual void | hpp::core::continuousCollisionChecking::Progressive::removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. | |
virtual | hpp::core::continuousCollisionChecking::Progressive::~Progressive () |
hpp::core::continuousCollisionChecking::Progressive::Progressive (const DevicePtr_t &robot, const value_type &tolerance) | |
Constructor. |
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.
typedef boost::shared_ptr<BodyPairCollision> hpp::core::continuousCollisionChecking::dichotomy::BodyPairCollisionPtr_t |
typedef boost::shared_ptr<BodyPairCollision> hpp::core::continuousCollisionChecking::progressive::BodyPairCollisionPtr_t |
typedef std::list<BodyPairCollisionPtr_t> hpp::core::continuousCollisionChecking::progressive::BodyPairCollisions_t |
typedef std::list<BodyPairCollisionPtr_t> hpp::core::continuousCollisionChecking::dichotomy::BodyPairCollisions_t |
virtual void hpp::core::continuousCollisionChecking::Dichotomy::addObstacle | ( | const CollisionObjectPtr_t & | object | ) | [virtual] |
Add an obstacle.
object | obstacle added Add the object to each collision pair a body of which is the environment. care about obstacles. |
Reimplemented from hpp::core::PathValidation.
virtual void hpp::core::continuousCollisionChecking::Progressive::addObstacle | ( | const CollisionObjectPtr_t & | object | ) | [virtual] |
Add an obstacle.
object | obstacle added Add the object to each collision pair a body of which is the environment. care about obstacles. |
Reimplemented from hpp::core::PathValidation.
static ProgressivePtr_t hpp::core::continuousCollisionChecking::Progressive::create | ( | const DevicePtr_t & | robot, |
const value_type & | tolerance | ||
) | [static] |
Create instance and return shared pointer.
robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
static DichotomyPtr_t hpp::core::continuousCollisionChecking::Dichotomy::create | ( | const DevicePtr_t & | robot, |
const value_type & | tolerance | ||
) | [static] |
Create instance and return shared pointer.
robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
hpp::core::continuousCollisionChecking::Dichotomy::Dichotomy | ( | const DevicePtr_t & | robot, |
const value_type & | tolerance | ||
) | [protected] |
Constructor.
robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
hpp::core::continuousCollisionChecking::dichotomy::HPP_PREDEF_CLASS | ( | BodyPairCollision | ) |
hpp::core::continuousCollisionChecking::Progressive::Progressive | ( | const DevicePtr_t & | robot, |
const value_type & | tolerance | ||
) | [protected] |
Constructor.
robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
virtual void hpp::core::continuousCollisionChecking::Dichotomy::removeObstacleFromJoint | ( | const JointPtr_t & | joint, |
const CollisionObjectPtr_t & | obstacle | ||
) | [virtual] |
Remove a collision pair between a joint and an obstacle.
the | joint that holds the inner objects, |
the | obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles. |
Reimplemented from hpp::core::PathValidation.
virtual void hpp::core::continuousCollisionChecking::Progressive::removeObstacleFromJoint | ( | const JointPtr_t & | joint, |
const CollisionObjectPtr_t & | obstacle | ||
) | [virtual] |
Remove a collision pair between a joint and an obstacle.
the | joint that holds the inner objects, |
the | obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles. |
Reimplemented from hpp::core::PathValidation.
virtual bool hpp::core::continuousCollisionChecking::Progressive::validate | ( | const PathPtr_t & | path, |
bool | reverse, | ||
PathPtr_t & | validPart | ||
) | [virtual] |
Compute a valid interval starting from the path beginning.
path | the path to check for validity, |
reverse | if true check from the end, |
the | extracted valid part of the path, pointer to path if path is valid. |
report | information about the validation process. The type can be derived for specific implementation |
Implements hpp::core::PathValidation.
virtual bool hpp::core::continuousCollisionChecking::Dichotomy::validate | ( | const PathPtr_t & | path, |
bool | reverse, | ||
PathPtr_t & | validPart | ||
) | [virtual] |
Compute a valid interval starting from the path beginning.
path | the path to check for validity, |
reverse | if true check from the end, |
the | extracted valid part of the path, pointer to path if path is valid. |
report | information about the validation process. The type can be derived for specific implementation |
Implements hpp::core::PathValidation.
virtual bool hpp::core::continuousCollisionChecking::Dichotomy::validate | ( | const PathPtr_t & | path, |
bool | reverse, | ||
PathPtr_t & | validPart, | ||
ValidationReport & | report | ||
) | [virtual] |
Compute a valid interval starting from the path beginning.
path | the path to check for validity, |
reverse | if true check from the end, |
the | extracted valid part of the path, pointer to path if path is valid. |
report | information about the validation process. The parameter is dynamic cast into CollisionPathValidationReport. |
Implements hpp::core::PathValidation.
virtual bool hpp::core::continuousCollisionChecking::Progressive::validate | ( | const PathPtr_t & | path, |
bool | reverse, | ||
PathPtr_t & | validPart, | ||
ValidationReport & | validationReport | ||
) | [virtual] |
Compute a valid interval starting from the path beginning.
path | the path to check for validity, |
reverse | if true check from the end, |
the | extracted valid part of the path, pointer to path if path is valid. |
validationReport | information about the validation process: which objects have been detected in collision and at which parameter along the path. validationReport should be a of type CollisionPathValidationReport. |
Implements hpp::core::PathValidation.
virtual hpp::core::continuousCollisionChecking::Dichotomy::~Dichotomy | ( | ) | [virtual] |
virtual hpp::core::continuousCollisionChecking::Progressive::~Progressive | ( | ) | [virtual] |