hpp::core::continuousCollisionChecking::Dichotomy Class Reference

Continuous validation of a path for collision. More...

#include <hpp/core/continuous-collision-checking/dichotomy.hh>

Inheritance diagram for hpp::core::continuousCollisionChecking::Dichotomy:
Collaboration diagram for hpp::core::continuousCollisionChecking::Dichotomy:

List of all members.

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.

Detailed Description

Continuous validation of a path for collision.