hpp-core  4.13.0
Implement basic classes for canonical path planning for kinematic chains.
Validation of configurations and paths

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization. Validation of a configuration or of a path gives rise to a validation report that provide information if validation failed. More...

Classes

struct  hpp::core::CollisionPathValidationReport
 Path validation report used for standard collision checking. More...
 
struct  hpp::core::CollisionValidationReport
 
struct  hpp::core::AllCollisionsValidationReport
 
class  hpp::core::CollisionValidation
 
class  hpp::core::ConfigValidation
 
class  hpp::core::ConfigValidations
 
class  hpp::core::continuousValidation::Dichotomy
 
class  hpp::core::continuousValidation::Progressive
 
class  hpp::core::ContinuousValidation
 
class  hpp::core::JointBoundValidationReport
 report returned when a configuration is not within the bounds More...
 
class  hpp::core::JointBoundValidation
 
class  hpp::core::pathValidation::Discretized
 
struct  hpp::core::PathValidationReport
 
class  hpp::core::PathValidation
 
class  hpp::core::PathValidations
 
struct  hpp::core::ProjectionError
 Handles projection errors when evaluating a path. More...
 
class  hpp::core::ValidationReport
 

Functions

static DichotomyPtr_t hpp::core::continuousValidation::Dichotomy::create (const DevicePtr_t &robot, const value_type &tolerance)
 
virtual hpp::core::continuousValidation::Dichotomy::~Dichotomy ()
 
 hpp::core::continuousValidation::Dichotomy::Dichotomy (const DevicePtr_t &robot, const value_type &tolerance)
 
void hpp::core::continuousValidation::Dichotomy::init (const DichotomyWkPtr_t weak)
 Store weak pointer to itself. More...
 
static ProgressivePtr_t hpp::core::continuousValidation::Progressive::create (const DevicePtr_t &robot, const value_type &tolerance)
 
virtual hpp::core::continuousValidation::Progressive::~Progressive ()
 
 hpp::core::continuousValidation::Progressive::Progressive (const DevicePtr_t &robot, const value_type &tolerance)
 
void hpp::core::continuousValidation::Progressive::init (const ProgressiveWkPtr_t weak)
 Store weak pointer to itself. More...
 
DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedCollisionChecking (const DevicePtr_t &robot, const value_type &stepSize)
 Validation of path by collision checking at discretized parameter values. More...
 
DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedJointBound (const DevicePtr_t &robot, const value_type &stepSize)
 Validation of path by checking joint bounds at discretized parameter values. More...
 
std::ostream & hpp::core::operator<< (std::ostream &os, const ValidationReport &report)
 

Detailed Description

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization. Validation of a configuration or of a path gives rise to a validation report that provide information if validation failed.

Function Documentation

◆ create() [1/2]

static DichotomyPtr_t hpp::core::continuousValidation::Dichotomy::create ( const DevicePtr_t robot,
const value_type tolerance 
)
static

Create instance and return shared pointer

Parameters
robotthe robot for which continuous validation is performed,
tolerancemaximal penetration allowed.

◆ create() [2/2]

static ProgressivePtr_t hpp::core::continuousValidation::Progressive::create ( const DevicePtr_t robot,
const value_type tolerance 
)
static

Create instance and return shared pointer

Parameters
robotthe robot for which continuous validation is performed,
tolerancemaximal penetration allowed.

◆ createDiscretizedCollisionChecking()

DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedCollisionChecking ( const DevicePtr_t robot,
const value_type stepSize 
)

Validation of path by collision checking at discretized parameter values.

◆ createDiscretizedJointBound()

DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedJointBound ( const DevicePtr_t robot,
const value_type stepSize 
)

Validation of path by checking joint bounds at discretized parameter values.

◆ Dichotomy()

hpp::core::continuousValidation::Dichotomy::Dichotomy ( const DevicePtr_t robot,
const value_type tolerance 
)
protected

Constructor

Parameters
robotthe robot for which continuous validation is performed,
tolerancemaximal penetration allowed.

◆ init() [1/2]

void hpp::core::continuousValidation::Dichotomy::init ( const DichotomyWkPtr_t  weak)
protected

Store weak pointer to itself.

◆ init() [2/2]

void hpp::core::continuousValidation::Progressive::init ( const ProgressiveWkPtr_t  weak)
protected

Store weak pointer to itself.

◆ operator<<()

std::ostream& hpp::core::operator<< ( std::ostream &  os,
const ValidationReport report 
)
inline

◆ Progressive()

hpp::core::continuousValidation::Progressive::Progressive ( const DevicePtr_t robot,
const value_type tolerance 
)
protected

Constructor

Parameters
robotthe robot for which continuous validation is performed,
tolerancemaximal penetration allowed.

◆ ~Dichotomy()

virtual hpp::core::continuousValidation::Dichotomy::~Dichotomy ( )
virtual

◆ ~Progressive()

virtual hpp::core::continuousValidation::Progressive::~Progressive ( )
virtual