hpp-core
4.11.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH
20 #define HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH
25 #include <boost/icl/continuous_interval.hpp>
26 #include <boost/icl/interval_set.hpp>
28 #include <hpp/fcl/collision_data.h>
29 #include <hpp/fcl/collision.h>
30 #include <hpp/pinocchio/body.hh>
31 #include <hpp/pinocchio/collision-object.hh>
32 #include <hpp/pinocchio/joint.hh>
38 namespace continuousValidation {
70 const pinocchio::DeviceData& data) = 0;
95 virtual std::string
name ()
const = 0;
96 virtual std::ostream&
print (std::ostream& os)
const = 0;
115 throw std::runtime_error (
"tolerance should be non-negative.");
123 throw std::runtime_error (
"tolerance should be non-negative.");
128 virtual void setupPath() = 0;
139 #endif // HPP_CORE_CONTINUOUS_VALIDATION_INTERVAL_VALIDATION_HH
shared_ptr< const Path > PathConstPtr_t
Definition: fwd.hh:171
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:243
std::ostream & operator<<(std::ostream &os, const BodyPairCollision &pair)
Definition: body-pair-collision.hh:189
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
virtual IntervalValidationPtr_t copy() const =0
PathPtr_t path_
Definition: interval-validation.hh:102
IntervalValidation(value_type tolerance)
Definition: interval-validation.hh:111
Definition: interval-validation.hh:57
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
bool valid_
Definition: interval-validation.hh:106
boost::icl::interval_set< value_type > interval_set
Definition: interval-validation.hh:101
Definition: bi-rrt-planner.hh:24
IntervalValidation(const IntervalValidation &other)
Definition: interval-validation.hh:119
bool refine_
Definition: interval-validation.hh:105
value_type tolerance() const
Definition: interval-validation.hh:90
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:207
value_type tolerance_
Definition: interval-validation.hh:103
interval_set validInterval_
Definition: interval-validation.hh:107
void path(const PathPtr_t &path, bool reverse)
Definition: interval-validation.hh:75
boost::icl::continuous_interval< value_type > continuous_interval
Definition: interval-validation.hh:100
virtual bool validateConfiguration(const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)=0
virtual std::ostream & print(std::ostream &os) const =0
PathConstPtr_t path() const
Get path.
Definition: interval-validation.hh:85
pinocchio::value_type value_type
Definition: fwd.hh:157
virtual std::string name() const =0
bool reverse_
Definition: interval-validation.hh:104