Classes | Functions
Validation of configurations and paths

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization. More...

Classes

struct  hpp::core::CollisionPathValidationReport
 Path validation report used for standard collision checking. More...
 
struct  hpp::core::CollisionValidationReport
 Validate a configuration with respect to collision. More...
 
class  hpp::core::CollisionValidation
 Validate a configuration with respect to collision. More...
 
class  hpp::core::ConfigValidation
 Abstraction of configuration validation. More...
 
class  hpp::core::ConfigValidations
 Validate a configuration with respect to collision. More...
 
class  hpp::core::continuousCollisionChecking::Dichotomy
 Continuous validation of a path for collision. More...
 
class  hpp::core::continuousCollisionChecking::Progressive
 Continuous validation of a path for collision. More...
 
class  hpp::core::ContinuousCollisionChecking
 Continuous validation of a path for collision. More...
 
class  hpp::core::DiscretizedCollisionChecking
 Validation of path by collision checking at discretized parameter values. More...
 
class  hpp::core::DiscretizedPathValidation
 Discretized validation of a path. More...
 
class  hpp::core::JointBoundValidationReport
 report returned when a configuration is not within the bounds More...
 
class  hpp::core::JointBoundValidation
 Validate a configuration with respect to joint bounds. More...
 
struct  hpp::core::PathValidationReport
 Abstraction of path validation report. More...
 
class  hpp::core::PathValidation
 Abstraction of path validation. More...
 
class  hpp::core::PathValidations
 Validation of a path with multiple path validation methods. More...
 
class  hpp::core::ValidationReport
 Abstraction of validation report for paths and configurations. More...
 

Functions

static DichotomyPtr_t hpp::core::continuousCollisionChecking::Dichotomy::create (const DevicePtr_t &robot, const value_type &tolerance)
 Create instance and return shared pointer. More...
 
virtual hpp::core::continuousCollisionChecking::Dichotomy::~Dichotomy ()
 
 hpp::core::continuousCollisionChecking::Dichotomy::Dichotomy (const DevicePtr_t &robot, const value_type &tolerance)
 Constructor. More...
 
static ProgressivePtr_t hpp::core::continuousCollisionChecking::Progressive::create (const DevicePtr_t &robot, const value_type &tolerance)
 Create instance and return shared pointer. More...
 
virtual hpp::core::continuousCollisionChecking::Progressive::~Progressive ()
 
 hpp::core::continuousCollisionChecking::Progressive::Progressive (const DevicePtr_t &robot, const value_type &tolerance)
 Constructor. More...
 
std::ostream & hpp::core::operator<< (std::ostream &os, const ValidationReport &report)
 

Detailed Description

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization.

Validation of a configuration or of a path gives rise to a validation report that provide information if validation failed.

Function Documentation

◆ create() [1/2]

static DichotomyPtr_t hpp::core::continuousCollisionChecking::Dichotomy::create ( const DevicePtr_t robot,
const value_type tolerance 
)
static

Create instance and return shared pointer.

Parameters
robotthe robot for which collision checking is performed,
tolerancemaximal penetration allowed.

◆ create() [2/2]

static ProgressivePtr_t hpp::core::continuousCollisionChecking::Progressive::create ( const DevicePtr_t robot,
const value_type tolerance 
)
static

Create instance and return shared pointer.

Parameters
robotthe robot for which collision checking is performed,
tolerancemaximal penetration allowed.

◆ Dichotomy()

hpp::core::continuousCollisionChecking::Dichotomy::Dichotomy ( const DevicePtr_t robot,
const value_type tolerance 
)
protected

Constructor.

Parameters
robotthe robot for which collision checking is performed,
tolerancemaximal penetration allowed.

◆ operator<<()

std::ostream& hpp::core::operator<< ( std::ostream &  os,
const ValidationReport report 
)
inline

◆ Progressive()

hpp::core::continuousCollisionChecking::Progressive::Progressive ( const DevicePtr_t robot,
const value_type tolerance 
)
protected

Constructor.

Parameters
robotthe robot for which collision checking is performed,
tolerancemaximal penetration allowed.

◆ ~Dichotomy()

virtual hpp::core::continuousCollisionChecking::Dichotomy::~Dichotomy ( )
virtual

◆ ~Progressive()

virtual hpp::core::continuousCollisionChecking::Progressive::~Progressive ( )
virtual