19 #ifndef HPP_RBPRM_VALIDATION_HH
20 #define HPP_RBPRM_VALIDATION_HH
22 #include <hpp/core/collision-validation-report.hh>
23 #include <hpp/core/collision-validation.hh>
24 #include <hpp/core/config-validation.hh>
25 #include <hpp/core/problem-solver.hh>
37 typedef hpp::core::Container<hpp::core::AffordanceObjects_t>
affMap_t;
50 const std::vector<std::string>& filter = std::vector<std::string>(),
51 const std::map<std::string, std::vector<std::string> >& affFilters =
52 std::map<std::string, std::vector<std::string> >(),
54 const core::ObjectStdVector_t& geometries = core::ObjectStdVector_t());
61 virtual bool validate(
const core::Configuration_t& config);
70 virtual bool validate(
const core::Configuration_t& config,
71 core::ValidationReportPtr_t& validationReport);
80 virtual bool validate(
const core::Configuration_t& config,
81 const std::vector<std::string>& filter);
92 virtual bool validate(
const core::Configuration_t& config,
93 core::ValidationReportPtr_t& validationReport,
94 const std::vector<std::string>& filter);
102 virtual void addObstacle(
const core::CollisionObjectConstPtr_t&
object);
109 virtual void removeObstacleFromJoint(
110 const core::JointPtr_t& joint,
111 const core::CollisionObjectPtr_t& obstacle);
116 virtual void randomnizeCollisionPairs();
123 void computeAllContacts(
bool computeAllContacts);
134 virtual bool validateTrunk(
135 const core::Configuration_t& config,
136 hpp::core::ValidationReportPtr_t& validationReport);
141 bool validateRoms(
const core::Configuration_t& config);
148 bool validateRoms(
const core::Configuration_t& config,
156 bool validateRoms(
const core::Configuration_t& config,
157 const std::vector<std::string>& filter);
164 bool validateRoms(
const core::Configuration_t& config,
165 const std::vector<std::string>& filter,
179 const std::vector<std::string>& filter,
180 const std::map<std::string, std::vector<std::string> >& affFilters,
181 const affMap_t& affordances,
const core::ObjectStdVector_t& geometries);
184 core::ValidationReportPtr_t unusedReport_;
191 #endif // HPP_RBPRM_VALIDATION_HH