30 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_HH 31 #define HPP_CORE_CONTINUOUS_VALIDATION_HH 39 #include <hpp/pinocchio/pool.hh> 43 using continuousValidation::IntervalValidation;
110 virtual void doExecute()
const;
145 virtual bool validate(
const PathPtr_t& path,
bool reverse,
159 virtual void removeObstacleFromJoint(
173 virtual void setSecurityMargins(
const matrix_t& securityMatrix);
176 virtual void setSecurityMarginBetweenBodies(
const std::string& body_a,
177 const std::string& body_b,
200 template <
class Delegate>
201 void add(
const Delegate& delegate);
205 template <
class Delegate>
224 static void setPath(IntervalValidations_t& intervalValidations,
242 virtual bool validateConfiguration(IntervalValidations_t& intervalValidations,
260 IntervalValidations_t& validations,
const value_type& t,
262 typename IntervalValidations_t::iterator& smallestInterval,
263 pinocchio::DeviceData& data) {
264 typename IntervalValidations_t::iterator itMin = validations.begin();
265 for (IntervalValidations_t::iterator itVal(validations.begin());
266 itVal != validations.end(); ++itVal) {
271 if (!(*itVal)->validateConfiguration(t, tmpInt, report, data)) {
273 pathReport->configurationReport = report;
274 pathReport->parameter = t;
277 if (interval.second > tmpInt.second) {
279 smallestInterval = itVal;
281 interval.first = std::max(interval.first, tmpInt.first);
282 interval.second = std::min(interval.second, tmpInt.second);
283 assert((*itVal)->path()->length() == 0 ||
284 interval.second > interval.first);
285 assert(interval.first <= t);
286 assert(t <= interval.second);
296 void init(ContinuousValidationWkPtr_t weak);
309 ContinuousValidationWkPtr_t weak_;
311 virtual bool validateStraightPath(IntervalValidations_t& intervalValidations,
316 std::vector<Initialize> initialize_;
317 std::vector<AddObstacle> addObstacle_;
321 void ContinuousValidation::add<ContinuousValidation::AddObstacle>(
325 void ContinuousValidation::reset<ContinuousValidation::AddObstacle>();
328 void ContinuousValidation::add<ContinuousValidation::Initialize>(
332 void ContinuousValidation::reset<ContinuousValidation::Initialize>();
334 template <
class Delegate>
336 assert(
false &&
"No delegate of this type in class ContinuousValidation.");
338 template <
class Delegate>
340 assert(
false &&
"No delegate of this type in class ContinuousValidation.");
345 #endif // HPP_CORE_CONTINUOUS_VALIDATION_HH value_type tolerance() const
Get tolerance value.
Definition: continuous-validation.hh:212
IntervalValidations_t intervalValidations_
All BodyPairValidation to validate.
Definition: continuous-validation.hh:299
DevicePtr_t robot_
Definition: continuous-validation.hh:292
Definition: continuous-validation.hh:102
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
void add(const Delegate &delegate)
Definition: continuous-validation.hh:335
Definition: bi-rrt-planner.hh:35
value_type tolerance_
Definition: continuous-validation.hh:293
pinocchio::Pool< IntervalValidations_t > bodyPairCollisionPool_
Definition: continuous-validation.hh:303
ContinuousValidation & owner() const
Definition: continuous-validation.hh:128
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:135
Definition: continuous-validation.hh:96
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:262
ContinuousValidation * owner_
Definition: continuous-validation.hh:115
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:151
DevicePtr_t robot() const
Definition: continuous-validation.hh:214
continuousValidation::IntervalValidations_t IntervalValidations_t
Definition: continuous-validation.hh:222
bool validateIntervals(IntervalValidations_t &validations, const value_type &t, interval_t &interval, PathValidationReportPtr_t &pathReport, typename IntervalValidations_t::iterator &smallestInterval, pinocchio::DeviceData &data)
Definition: continuous-validation.hh:259
ContinuousValidation * owner_
Definition: continuous-validation.hh:132
Definition: continuous-validation.hh:120
ContinuousValidation & owner() const
Definition: continuous-validation.hh:111
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:225
void reset()
Definition: continuous-validation.hh:339
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
Definition: path-validation.hh:51
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:315
pinocchio::value_type value_type
Definition: fwd.hh:174
virtual ~AddObstacle()
Definition: continuous-validation.hh:129
Definition: path-validation-report.hh:45
Definition: obstacle-user.hh:47
virtual ~Initialize()
Definition: continuous-validation.hh:112
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:261
IntervalValidations_t disabledBodyPairCollisions_
BodyPairCollision for which collision is disabled.
Definition: continuous-validation.hh:301
value_type stepSize_
Definition: continuous-validation.hh:305
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
Eigen::Matrix< RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic > matrix_type
Definition: relative-motion.hh:62
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:99
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
DeviceWkPtr_t robot_
Definition: continuous-validation.hh:133