hpp-core  4.12.0
Implement basic classes for canonical path planning for kinematic chains.
collision-validation-report.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
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14 // General Lesser Public License for more details. You should have
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16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_CORE_COLLISION_VALIDATION_REPORT_HH
20 # define HPP_CORE_COLLISION_VALIDATION_REPORT_HH
21 
22 # include <hpp/util/indent.hh>
23 
24 # include <hpp/pinocchio/collision-object.hh>
26 # include <hpp/fcl/collision_data.h>
28 
29 namespace hpp {
30  namespace core {
33 
37  {
39 
42  const fcl::CollisionResult& r) : object1 (o1), object2 (o2), result(r)
43  {}
44 
46  const fcl::CollisionResult& r) :
47  object1 (pair.first),
48  object2 (pair.second),
49  result(r)
50  {}
51 
54  std::string objectName1;
57  std::string objectName2;
59  fcl::CollisionResult result;
61  virtual std::ostream& print (std::ostream& os) const
62  {
63  os << "Collision between object " << (object1 ? object1->name() : objectName1) << " and "
64  << (object2 ? object2->name() : objectName2);
65  return os;
66  }
67  }; // class CollisionValidationReport
68 
72  {
74 
77  const fcl::CollisionResult& r) : CollisionValidationReport (o1, o2, r)
78  {}
79 
81  const fcl::CollisionResult& r) : CollisionValidationReport (pair, r)
82  {}
83 
84  std::vector<CollisionValidationReportPtr_t> collisionReports;
85  virtual std::ostream& print (std::ostream& os) const
86  {
87  os <<" Number of collisions : "<<collisionReports.size()<<"."<<incendl;
88  for(std::vector<CollisionValidationReportPtr_t>::const_iterator it = collisionReports.begin() ; it != collisionReports.end() ; ++it){
89  os << **it << iendl;
90  }
91  return os << decindent;
92  }
93  }; // class AllCollisionsValidationReport
95  } // namespace core
96 } // namespace hpp
97 
98 #endif // HPP_CORE_COLLISION_VALIDATION_REPORT_HH
Definition: validation-report.hh:36
Definition: collision-validation-report.hh:71
virtual std::ostream & print(std::ostream &os) const
Write report in a stream.
Definition: collision-validation-report.hh:61
CollisionValidationReport()
Definition: collision-validation-report.hh:38
CollisionValidationReport(CollisionObjectConstPtr_t o1, CollisionObjectConstPtr_t o2, const fcl::CollisionResult &r)
Definition: collision-validation-report.hh:40
Definition: bi-rrt-planner.hh:24
AllCollisionsValidationReport()
Definition: collision-validation-report.hh:73
Definition: collision-pair.hh:34
virtual std::ostream & print(std::ostream &os) const
Write report in a stream.
Definition: collision-validation-report.hh:85
Definition: collision-validation-report.hh:36
CollisionObjectConstPtr_t object2
Second object in collision.
Definition: collision-validation-report.hh:56
CollisionObjectConstPtr_t object1
First object in collision.
Definition: collision-validation-report.hh:53
AllCollisionsValidationReport(CollisionObjectConstPtr_t o1, CollisionObjectConstPtr_t o2, const fcl::CollisionResult &r)
Definition: collision-validation-report.hh:75
std::string objectName2
Definition: collision-validation-report.hh:57
std::string objectName1
Definition: collision-validation-report.hh:54
#define HPP_CORE_DLLAPI
Definition: config.hh:64
std::vector< CollisionValidationReportPtr_t > collisionReports
Definition: collision-validation-report.hh:84
fcl::CollisionResult result
fcl collision results
Definition: collision-validation-report.hh:59
AllCollisionsValidationReport(const CollisionPair_t &pair, const fcl::CollisionResult &r)
Definition: collision-validation-report.hh:80
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
CollisionValidationReport(const CollisionPair_t &pair, const fcl::CollisionResult &r)
Definition: collision-validation-report.hh:45