hpp-core
4.13.0
Implement basic classes for canonical path planning for kinematic chains.
discretized-collision-checking.hh
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//
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// Copyright (c) 2018 CNRS
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// Authors: Florent Lamiraux, Joseph Mirabel
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are
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// met:
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//
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// 1. Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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// DAMAGE.
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#ifndef HPP_CORE_PATH_VALIDATION_DISCRETIZED_COLLISION_CHECKING_HH
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#define HPP_CORE_PATH_VALIDATION_DISCRETIZED_COLLISION_CHECKING_HH
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#include <
hpp/core/path-validation/discretized.hh
>
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namespace
hpp
{
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namespace
core {
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namespace
pathValidation {
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DiscretizedPtr_t
createDiscretizedCollisionChecking
(
const
DevicePtr_t
& robot,
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const
value_type
& stepSize);
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}
// namespace pathValidation
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}
// namespace core
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}
// namespace hpp
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#endif // HPP_CORE_PATH_VALIDATION_DISCRETIZED_COLLISION_CHECKING_HH
hpp::core::pathValidation::DiscretizedPtr_t
shared_ptr< Discretized > DiscretizedPtr_t
Definition:
fwd.hh:300
discretized.hh
hpp
Definition:
bi-rrt-planner.hh:35
hpp::core::pathValidation::createDiscretizedCollisionChecking
DiscretizedPtr_t createDiscretizedCollisionChecking(const DevicePtr_t &robot, const value_type &stepSize)
Validation of path by collision checking at discretized parameter values.
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition:
fwd.hh:123
hpp::core::value_type
pinocchio::value_type value_type
Definition:
fwd.hh:163
include
hpp
core
path-validation
discretized-collision-checking.hh
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