hpp-core
4.12.0
Implement basic classes for canonical path planning for kinematic chains.
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19 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_HH
20 # define HPP_CORE_CONTINUOUS_VALIDATION_HH
22 # include <hpp/pinocchio/pool.hh>
33 using continuousValidation::IntervalValidation;
103 virtual void doExecute()
const;
137 virtual bool validate (
const PathPtr_t& path,
bool reverse,
151 virtual void removeObstacleFromJoint
164 virtual void setSecurityMargins(
const matrix_t& securityMatrix);
167 virtual void setSecurityMarginBetweenBodies(
const std::string& body_a,
168 const std::string& body_b,
191 template <
class Delegate>
void add(
const Delegate& delegate);
195 template <
class Delegate>
void reset();
199 void addIntervalValidation
238 virtual bool validateConfiguration
257 bool validateIntervals
260 typename IntervalValidations_t::iterator& smallestInterval,
261 pinocchio::DeviceData& data)
263 typename IntervalValidations_t::iterator itMin = validations.begin();
264 for (IntervalValidations_t::iterator itVal (validations.begin());
265 itVal != validations.end(); ++itVal)
271 if (!(*itVal)->validateConfiguration(t, tmpInt, report, data))
274 pathReport->configurationReport = report;
275 pathReport->parameter = t;
280 if (interval.second > tmpInt.second)
283 smallestInterval = itVal;
285 interval.first = std::max(interval.first, tmpInt.first);
286 interval.second = std::min(interval.second, tmpInt.second);
287 assert((*itVal)->path()->length() == 0 || interval.second > interval.first);
288 assert(interval.first <= t);
289 assert(t <= interval.second);
299 void init (ContinuousValidationWkPtr_t weak);
311 ContinuousValidationWkPtr_t weak_;
313 virtual bool validateStraightPath
318 std::vector<Initialize> initialize_;
319 std::vector<AddObstacle> addObstacle_;
323 void ContinuousValidation::add<ContinuousValidation::AddObstacle>
327 void ContinuousValidation::reset<ContinuousValidation::AddObstacle>();
330 void ContinuousValidation::add<ContinuousValidation::Initialize>
334 void ContinuousValidation::reset<ContinuousValidation::Initialize>();
337 (
const Delegate& delegate)
340 "No delegate of this type in class ContinuousValidation.");
345 "No delegate of this type in class ContinuousValidation.");
350 #endif // HPP_CORE_CONTINUOUS_VALIDATION_HH
DevicePtr_t robot_
Definition: continuous-validation.hh:295
ContinuousValidation * owner_
Definition: continuous-validation.hh:107
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:243
value_type tolerance() const
Get tolerance value.
Definition: continuous-validation.hh:202
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:158
IntervalValidations_t intervalValidations_
All BodyPairValidation to validate.
Definition: continuous-validation.hh:302
ContinuousValidation & owner() const
Definition: continuous-validation.hh:104
Definition: continuous-validation.hh:94
Definition: continuous-validation.hh:86
void add(const Delegate &delegate)
Definition: continuous-validation.hh:337
continuousValidation::IntervalValidations_t IntervalValidations_t
Definition: continuous-validation.hh:217
value_type tolerance_
Definition: continuous-validation.hh:296
Definition: path-validation.hh:35
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
pinocchio::Pool< IntervalValidations_t > bodyPairCollisionPool_
Definition: continuous-validation.hh:306
ContinuousValidation * owner_
Definition: continuous-validation.hh:124
ContinuousValidation & owner() const
Definition: continuous-validation.hh:121
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
void reset()
Definition: continuous-validation.hh:342
virtual ~Initialize()
Definition: continuous-validation.hh:105
Definition: obstacle-user.hh:36
pinocchio::DeviceWkPtr_t DeviceWkPtr_t
Definition: fwd.hh:115
DevicePtr_t robot() const
Definition: continuous-validation.hh:207
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition: fwd.hh:244
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
Definition: bi-rrt-planner.hh:24
DeviceWkPtr_t robot_
Definition: continuous-validation.hh:125
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:207
Eigen::Matrix< RelativeMotionType, Eigen::Dynamic, Eigen::Dynamic > matrix_type
Definition: relative-motion.hh:51
virtual ~AddObstacle()
Definition: continuous-validation.hh:122
IntervalValidations_t disabledBodyPairCollisions_
BodyPairCollision for which collision is disabled.
Definition: continuous-validation.hh:304
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
Definition: path-validation-report.hh:34
Definition: continuous-validation.hh:112
value_type stepSize_
Definition: continuous-validation.hh:308
pinocchio::value_type value_type
Definition: fwd.hh:157
#define HPP_CORE_DLLAPI
Definition: config.hh:64