hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
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30 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
31 #define HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
33 #include <hpp/fcl/collision_data.h>
35 #include <boost/icl/continuous_interval.hpp>
36 #include <boost/icl/interval_set.hpp>
43 namespace continuousValidation {
77 const pinocchio::DeviceData& data);
105 virtual std::string
name()
const = 0;
106 virtual std::ostream&
print(std::ostream& os)
const = 0;
115 for (
auto& request : m_->requests) request.security_margin =
securityMargin;
129 maximalVelocity_(other.maximalVelocity_) {}
132 fcl::CollisionResult result,
145 shared_ptr<Model> m_;
156 virtual void setupPath();
171 virtual bool computeDistanceLowerBound(
value_type& distanceLowerBound,
173 const pinocchio::DeviceData& data);
179 return pair.
print(os);
184 #endif // HPP_CORE_CONTINUOUS_VALIDATION_BODY_PAIR_COLLISION_HH
pinocchio::size_type size_type
Definition: fwd.hh:173
BodyPairCollision(value_type tolerance)
Definition: body-pair-collision.hh:122
virtual size_type indexJointB() const
Returns joint B index or -1 if no such joint exists.
Definition: body-pair-collision.hh:97
Definition: body-pair-collision.hh:62
std::ostream & operator<<(std::ostream &os, const BodyPairCollision &pair)
Definition: body-pair-collision.hh:177
std::pair< value_type, value_type > interval_t
Definition: fwd.hh:175
CollisionRequests_t & requests()
Definition: body-pair-collision.hh:89
Definition: collision-pair.hh:45
pinocchio::vector_t vector_t
Definition: fwd.hh:220
Definition: interval-validation.hh:67
value_type maximalVelocity() const
Definition: body-pair-collision.hh:92
virtual size_type indexJointA() const
Returns joint A index or -1 if no such joint exists.
Definition: body-pair-collision.hh:95
shared_ptr< CollisionValidationReport > CollisionValidationReportPtr_t
Definition: fwd.hh:96
BodyPairCollision(const BodyPairCollision &other)
Copy constructor.
Definition: body-pair-collision.hh:126
Definition: collision-validation-report.hh:47
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:100
virtual void setReport(ValidationReportPtr_t &report, fcl::CollisionResult result, CollisionPair_t _pair) const
Definition: body-pair-collision.hh:131
std::vector< CollisionPair_t > CollisionPairs_t
Definition: fwd.hh:239
Definition: bi-rrt-planner.hh:35
bool validateConfiguration(const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)
value_type securityMargin() const
Get security margin of the first pair of object.
Definition: body-pair-collision.hh:112
virtual std::string name() const =0
virtual std::ostream & print(std::ostream &os) const =0
value_type tolerance() const
Definition: interval-validation.hh:95
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition: fwd.hh:225
std::vector< fcl::CollisionRequest > CollisionRequests_t
Definition: collision-pair.hh:43
virtual void addCollisionPair(const CollisionObjectConstPtr_t &, const CollisionObjectConstPtr_t &)
Definition: body-pair-collision.hh:102
const CollisionRequests_t & requests() const
Definition: body-pair-collision.hh:86
void securityMargin(const value_type &securityMargin)
Set security margin.
Definition: body-pair-collision.hh:114
CollisionPairs_t & pairs()
Definition: body-pair-collision.hh:83
pinocchio::value_type value_type
Definition: fwd.hh:174
const CollisionPairs_t & pairs() const
Definition: body-pair-collision.hh:80
virtual bool removeObjectTo_b(const CollisionObjectConstPtr_t &)
Definition: body-pair-collision.hh:99