hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
20 # define HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
22 # include <boost/icl/continuous_interval.hpp>
23 # include <boost/icl/interval_set.hpp>
25 # include <hpp/fcl/collision_data.h>
32 namespace continuousValidation {
54 typedef std::pair<CollisionObjectConstPtr_t, CollisionObjectConstPtr_t>
CollisionPair_t;
70 const pinocchio::DeviceData& data);
87 return maximalVelocity_;
99 virtual std::string
name ()
const = 0;
100 virtual std::ostream&
print (std::ostream& os)
const = 0;
108 return collisionRequest_.security_margin;
122 collisionRequest_(fcl::DISTANCE_LOWER_BOUND, 1), maximalVelocity_(0)
124 collisionRequest_.enable_cached_gjk_guess =
true;
130 collisionRequest_(other.collisionRequest_),
131 maximalVelocity_(other.maximalVelocity_)
135 fcl::CollisionResult result,
146 boost::shared_ptr<Model> m_;
147 fcl::CollisionRequest collisionRequest_;
158 virtual void setupPath();
173 virtual bool computeDistanceLowerBound(
value_type &distanceLowerBound,
175 const pinocchio::DeviceData& data);
182 return pair.
print (os);
187 #endif // HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
BodyPairCollision(value_type tolerance)
Definition: body-pair-collision.hh:120
virtual size_type indexJointB() const
Returns joint B index or -1 if no such joint exists.
Definition: body-pair-collision.hh:93
Definition: body-pair-collision.hh:51
std::ostream & operator<<(std::ostream &os, const BodyPairCollision &pair)
Definition: body-pair-collision.hh:179
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
pinocchio::vector_t vector_t
Definition: fwd.hh:201
Definition: interval-validation.hh:57
value_type maximalVelocity() const
Definition: body-pair-collision.hh:85
virtual size_type indexJointA() const
Returns joint A index or -1 if no such joint exists.
Definition: body-pair-collision.hh:91
std::vector< CollisionPair_t > CollisionPairs_t
Definition: body-pair-collision.hh:55
BodyPairCollision(const BodyPairCollision &other)
Copy constructor.
Definition: body-pair-collision.hh:128
Definition: collision-validation-report.hh:35
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
virtual void setReport(ValidationReportPtr_t &report, fcl::CollisionResult result, CollisionPair_t _pair) const
Definition: body-pair-collision.hh:134
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:220
Definition: basic-configuration-shooter.hh:26
bool validateConfiguration(const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)
boost::shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:206
value_type securityMargin() const
Get security margin.
Definition: body-pair-collision.hh:106
virtual std::string name() const =0
virtual std::ostream & print(std::ostream &os) const =0
value_type tolerance() const
Definition: interval-validation.hh:90
boost::shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:86
virtual void addCollisionPair(const CollisionObjectConstPtr_t &, const CollisionObjectConstPtr_t &)
Definition: body-pair-collision.hh:96
std::pair< CollisionObjectConstPtr_t, CollisionObjectConstPtr_t > CollisionPair_t
Definition: body-pair-collision.hh:54
void securityMargin(const value_type &securityMargin)
Set security margin.
Definition: body-pair-collision.hh:111
CollisionPairs_t & pairs()
Definition: body-pair-collision.hh:79
pinocchio::value_type value_type
Definition: fwd.hh:157
const CollisionPairs_t & pairs() const
Definition: body-pair-collision.hh:73
virtual bool removeObjectTo_b(const CollisionObjectConstPtr_t &)
Definition: body-pair-collision.hh:95