Discretized validation of a path. More...
#include <hpp/core/discretized-path-validation.hh>
Public Member Functions | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report) |
Compute the largest valid interval starting from the path beginning. More... | |
virtual void | add (const ConfigValidationPtr_t &configValidation) |
Add a configuration validation object. More... | |
virtual void | addObstacle (const CollisionObjectConstPtr_t &) |
Add an obstacle. More... | |
virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle) |
Remove a collision pair between a joint and an obstacle. More... | |
virtual void | filterCollisionPairs (const RelativeMotion::matrix_type &matrix) |
virtual | ~DiscretizedPathValidation () |
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virtual | ~PathValidation () |
Static Public Member Functions | |
static DiscretizedPathValidationPtr_t | create (const DevicePtr_t &robot, const value_type &stepSize) |
Protected Member Functions | |
DiscretizedPathValidation (const DevicePtr_t &robot, const value_type &stepSize) | |
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PathValidation () | |
Protected Attributes | |
value_type | stepSize_ |
Discretized validation of a path.
Apply some configuration validation algorithms at discretized values of the path parameter.
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Add a configuration validation object.
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Reimplemented from hpp::core::PathValidation.
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Remove a collision pair between a joint and an obstacle.
joint | the joint that holds the inner objects, |
obstacle | 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 from hpp::core::PathValidation.
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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. A report is allocated if the path is not valid. |
Implements hpp::core::PathValidation.
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