hpp-core  4.12.0
Implement basic classes for canonical path planning for kinematic chains.
discretized.hh
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1 //
2 // Copyright (c) 2015 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
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18 
19 #ifndef HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
20 # define HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
21 
24 
25 namespace hpp {
26  namespace core {
27  namespace pathValidation {
30 
36  public PathValidation,
37  public ConfigValidations
38  {
39  public:
40  static DiscretizedPtr_t create (const value_type& stepSize);
41  static DiscretizedPtr_t create (const value_type& stepSize,
42  std::initializer_list<ConfigValidationPtr_t> validations);
43 
53  virtual bool validate (const PathPtr_t& path, bool reverse,
54  PathPtr_t& validPart,
56 
57  virtual ~Discretized () {};
58  protected:
59  Discretized (const value_type& stepSize) : stepSize_ (stepSize) {}
60  Discretized (const value_type& stepSize,
61  std::initializer_list<ConfigValidationPtr_t> validations) :
62  ConfigValidations (validations),
63  stepSize_ (stepSize)
64  {};
65 
66  value_type stepSize_;
67  }; // class Discretized
69  } // namespace pathValidation
70  } // namespace core
71 } // namespace hpp
72 
73 #endif // HPP_CORE_DISCRETIZED_PATH_VALIDATION_HH
Definition: bi-rrt-planner.hh:24
Discretized(const value_type &stepSize)
Definition: discretized.hh:59
shared_ptr< Discretized > DiscretizedPtr_t
Definition: fwd.hh:295
Discretized(const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations)
Definition: discretized.hh:60
Definition: path-validation.hh:35
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
pinocchio::value_type value_type
Definition: fwd.hh:157
Definition: config-validations.hh:32
virtual ~Discretized()
Definition: discretized.hh:57
Definition: discretized.hh:35
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170