19 #ifndef HPP_RBPRM_ROM_VALIDATION_HH
20 #define HPP_RBPRM_ROM_VALIDATION_HH
22 #include <hpp/core/collision-validation.hh>
44 const pinocchio::DevicePtr_t& robot,
45 const std::vector<std::string>& affFilters = std::vector<std::string>());
51 virtual bool validate(
const core::Configuration_t& config);
60 virtual bool validate(
const core::Configuration_t& config,
61 core::ValidationReportPtr_t& validationReport);
66 virtual void randomnizeCollisionPairs();
75 const std::vector<std::string>& affFilters);
78 core::ValidationReportPtr_t unusedReport_;
86 #endif // HPP_RBPRM_ROM_VALIDATION_HH