Abstraction of path validation. More...
#include <hpp/core/path-validation.hh>
Public Member Functions | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart)=0 |
Compute the largest valid interval starting from the path beginning. | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &report)=0 |
Compute the largest valid interval starting from the path beginning. | |
virtual void | addObstacle (const CollisionObjectPtr_t &) |
Add an obstacle. | |
virtual void | removeObstacleFromJoint (const JointPtr_t &, const CollisionObjectPtr_t &) |
Remove a collision pair between a joint and an obstacle. | |
Protected Member Functions | |
PathValidation () |
Abstraction of path validation.
Instances of this class compute the latest valid configuration along a path.
hpp::core::PathValidation::PathValidation | ( | ) | [inline, protected] |
virtual void hpp::core::PathValidation::addObstacle | ( | const CollisionObjectPtr_t & | ) | [inline, virtual] |
Add an obstacle.
object | obstacle added collision path validation need to know about obstacles. This virtual method does nothing for path validation methods that do not care about obstacles. |
Reimplemented in hpp::core::continuousCollisionChecking::Progressive, hpp::core::continuousCollisionChecking::Dichotomy, and hpp::core::DiscretizedCollisionChecking.
virtual void hpp::core::PathValidation::removeObstacleFromJoint | ( | const JointPtr_t & | , |
const CollisionObjectPtr_t & | |||
) | [inline, 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 in hpp::core::continuousCollisionChecking::Progressive, hpp::core::continuousCollisionChecking::Dichotomy, and hpp::core::DiscretizedCollisionChecking.
virtual bool hpp::core::PathValidation::validate | ( | const PathPtr_t & | path, |
bool | reverse, | ||
PathPtr_t & | validPart | ||
) | [pure virtual] |
Compute the largest 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. |
Implemented in hpp::core::continuousCollisionChecking::Dichotomy, hpp::core::continuousCollisionChecking::Progressive, and hpp::core::DiscretizedCollisionChecking.
virtual bool hpp::core::PathValidation::validate | ( | const PathPtr_t & | path, |
bool | reverse, | ||
PathPtr_t & | validPart, | ||
ValidationReport & | report | ||
) | [pure virtual] |
Compute the largest 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 |
Implemented in hpp::core::continuousCollisionChecking::Progressive, hpp::core::continuousCollisionChecking::Dichotomy, and hpp::core::DiscretizedCollisionChecking.