Continuous validation of a path for collision. More...
#include <hpp/core/continuous-collision-checking/dichotomy.hh>
Public Member Functions | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart) |
Compute a valid interval starting from the path beginning. | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &report) |
Compute a valid interval starting from the path beginning. | |
virtual void | addObstacle (const CollisionObjectPtr_t &object) |
Add an obstacle. | |
virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. | |
virtual | ~Dichotomy () |
Static Public Member Functions | |
static DichotomyPtr_t | create (const DevicePtr_t &robot, const value_type &tolerance) |
Create instance and return shared pointer. | |
Protected Member Functions | |
Dichotomy (const DevicePtr_t &robot, const value_type &tolerance) | |
Constructor. |
Continuous validation of a path for collision.