hpp-rbprm  4.15.1
Implementation of RB-PRM planner using hpp.
rbprm-rom-validation.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau
4 //
5 // This file is part of hpp-rbprm
6 // hpp-rbprm 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 //
11 // hpp-core is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_ROM_VALIDATION_HH
20 #define HPP_RBPRM_ROM_VALIDATION_HH
21 
22 #include <hpp/core/collision-validation.hh>
23 #include <hpp/rbprm/config.hh>
25 
26 namespace hpp {
27 namespace rbprm {
28 
30 typedef shared_ptr<RbPrmRomValidation> RbPrmRomValidationPtr_t;
31 
34 
41 class HPP_RBPRM_DLLAPI RbPrmRomValidation : public core::CollisionValidation {
42  public:
43  static RbPrmRomValidationPtr_t create(
44  const pinocchio::DevicePtr_t& robot,
45  const std::vector<std::string>& affFilters = std::vector<std::string>());
46 
51  virtual bool validate(const core::Configuration_t& config);
52 
60  virtual bool validate(const core::Configuration_t& config,
61  core::ValidationReportPtr_t& validationReport);
62 
66  virtual void randomnizeCollisionPairs();
67 
68  public:
69  const std::vector<std::string> filter_;
70 
71  void setOptional(bool optional) { optional_ = optional; }
72 
73  protected:
74  RbPrmRomValidation(const pinocchio::DevicePtr_t& robot,
75  const std::vector<std::string>& affFilters);
76 
77  private:
78  core::ValidationReportPtr_t unusedReport_;
79  bool optional_;
80 
81 }; // class RbPrmValidation
83 } // namespace rbprm
84 } // namespace hpp
85 
86 #endif // HPP_RBPRM_ROM_VALIDATION_HH
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: rbprm-rom-validation.hh:41
Definition: algorithm.hh:26
const std::vector< std::string > filter_
Definition: rbprm-rom-validation.hh:69
shared_ptr< RbPrmRomValidation > RbPrmRomValidationPtr_t
Definition: rbprm-rom-validation.hh:29
void setOptional(bool optional)
Definition: rbprm-rom-validation.hh:71