hpp-core
4.11.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-validation/discretized.hh>
Public Member Functions | |
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report) |
virtual | ~Discretized () |
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virtual | ~PathValidation () |
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virtual bool | validate (const Configuration_t &config, ValidationReportPtr_t &validationReport) |
void | add (const ConfigValidationPtr_t &configValidation) |
Add a configuration validation object. More... | |
size_type | numberConfigValidations () const |
Return the number of config validations. More... | |
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virtual | ~ConfigValidation ()=default |
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virtual | ~ObstacleUserVector ()=default |
void | addObstacle (const CollisionObjectConstPtr_t &object) |
void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object) |
void | filterCollisionPairs (const RelativeMotion::matrix_type &relMotion) |
void | setSecurityMargins (const matrix_t &securityMatrix) |
void | setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin) |
void | clear () |
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virtual | ~ObstacleUserInterface ()=default |
Static Public Member Functions | |
static DiscretizedPtr_t | create (const value_type &stepSize) |
static DiscretizedPtr_t | create (const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations) |
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static ConfigValidationsPtr_t | create () |
Protected Member Functions | |
Discretized (const value_type &stepSize) | |
Discretized (const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations) | |
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PathValidation () | |
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ConfigValidations ()=default | |
ConfigValidations (std::initializer_list< ConfigValidationPtr_t > validations) | |
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ConfigValidation ()=default | |
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ObstacleUserVector ()=default | |
ObstacleUserVector (std::initializer_list< value_t > validations) | |
Protected Attributes | |
value_type | stepSize_ |
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values_t | validations_ |
Additional Inherited Members | |
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typedef ConfigValidationPtr_t | value_t |
typedef std::vector< value_t > | values_t |
Discretized validation of a path
Apply some configuration validation algorithms at discretized values of the path parameter.
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inlinevirtual |
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inlineprotected |
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inlineprotected |
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static |
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static |
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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. A report is allocated if the path is not valid. |
Implements hpp::core::PathValidation.
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protected |