30 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH 31 #define HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH 33 #include <hpp/fcl/collision.h> 34 #include <hpp/fcl/collision_data.h> 36 #include <boost/icl/continuous_interval.hpp> 37 #include <boost/icl/interval_set.hpp> 40 #include <hpp/pinocchio/body.hh> 41 #include <hpp/pinocchio/collision-object.hh> 42 #include <hpp/pinocchio/joint.hh> 48 namespace continuousValidation {
79 const pinocchio::DeviceData &data) = 0;
97 virtual std::string
name()
const = 0;
98 virtual std::ostream &
print(std::ostream &os)
const = 0;
116 throw std::runtime_error(
"tolerance should be non-negative.");
123 throw std::runtime_error(
"tolerance should be non-negative.");
128 virtual void setupPath() = 0;
137 #endif // HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH interval_set validInterval_
Definition: interval-validation.hh:109
value_type tolerance_
Definition: interval-validation.hh:105
value_type tolerance() const
Definition: interval-validation.hh:95
Definition: bi-rrt-planner.hh:35
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
virtual std::ostream & print(std::ostream &os) const =0
virtual IntervalValidationPtr_t copy() const =0
void path(const PathPtr_t &path, bool reverse)
Definition: interval-validation.hh:84
boost::icl::continuous_interval< value_type > continuous_interval
Definition: interval-validation.hh:102
PathPtr_t path_
Definition: interval-validation.hh:104
PathConstPtr_t path() const
Get path.
Definition: interval-validation.hh:93
Definition: interval-validation.hh:67
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:225
bool reverse_
Definition: interval-validation.hh:106
pinocchio::value_type value_type
Definition: fwd.hh:174
IntervalValidation(value_type tolerance)
Definition: interval-validation.hh:113
boost::icl::interval_set< value_type > interval_set
Definition: interval-validation.hh:103
bool refine_
Definition: interval-validation.hh:107
IntervalValidation(const IntervalValidation &other)
Definition: interval-validation.hh:120
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:261
virtual bool validateConfiguration(const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)=0
virtual std::string name() const =0
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:188
bool valid_
Definition: interval-validation.hh:108
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
std::ostream & operator<<(std::ostream &os, const BodyPairCollision &pair)
Definition: body-pair-collision.hh:177