19 #ifndef HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
20 # define HPP_CORE_CONTINUOUS_VALIDATION_SOLID_SOLID_COLLISION_HH
26 namespace continuousValidation {
78 std::ostream&
print (std::ostream& os)
const;
89 return m_->coefficients;
106 return (m_->joint_a ? m_->joint_a->index() : 0);
111 return (m_->joint_b ? m_->joint_b->index() : 0);
141 void init(
const SolidSolidCollisionWkPtr_t& weak);
143 typedef pinocchio::JointIndex JointIndex;
144 typedef std::vector<JointIndex> JointIndices_t;
151 JointIndices_t computeSequenceOfJoints ()
const;
153 void setCoefficients (
const JointIndices_t& joints);
155 shared_ptr<Model> m_;
156 SolidSolidCollisionWkPtr_t weak_;
Definition: body-pair-collision.hh:53
Definition: solid-solid-collision.hh:48
SolidSolidCollision(const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance)
size_type indexJointA() const
Returns joint A index or -1 if no such joint exists.
Definition: solid-solid-collision.hh:104
const JointPtr_t & joint_a() const
Get joint a.
Definition: solid-solid-collision.hh:93
SolidSolidCollision(const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance)
bool removeObjectTo_b(const CollisionObjectConstPtr_t &object)
static SolidSolidCollisionPtr_t createCopy(const SolidSolidCollisionPtr_t &other)
Copy instance and return shared pointer.
static SolidSolidCollisionPtr_t create(const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance)
void init(const SolidSolidCollisionWkPtr_t &weak)
static SolidSolidCollisionPtr_t create(const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance)
value_type computeMaximalVelocity(vector_t &Vb) const
size_type indexJointB() const
Returns joint B index or -1 if no such joint exists.
Definition: solid-solid-collision.hh:109
void addCollisionPair(const CollisionObjectConstPtr_t &left, const CollisionObjectConstPtr_t &right)
IntervalValidationPtr_t copy() const
const CoefficientVelocities_t & coefficients() const
Definition: solid-solid-collision.hh:87
const JointPtr_t & joint_b() const
Get joint b.
Definition: solid-solid-collision.hh:98
std::ostream & print(std::ostream &os) const
SolidSolidCollision(const SolidSolidCollision &other)
Copy constructor.
Definition: solid-solid-collision.hh:137
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< IntervalValidation > IntervalValidationPtr_t
Definition: fwd.hh:243
std::vector< CoefficientVelocity > CoefficientVelocities_t
Definition: solid-solid-collision.hh:36
shared_ptr< SolidSolidCollision > SolidSolidCollisionPtr_t
Definition: fwd.hh:246
pinocchio::value_type value_type
Definition: fwd.hh:157
std::vector< CollisionObjectConstPtr_t > ConstObjectStdVector_t
Definition: fwd.hh:168
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::JointPtr_t JointPtr_t
Definition: fwd.hh:133
pinocchio::size_type size_type
Definition: fwd.hh:156
pinocchio::CollisionObjectConstPtr_t CollisionObjectConstPtr_t
Definition: fwd.hh:90
Definition: bi-rrt-planner.hh:24
Definition: solid-solid-collision.hh:28
JointPtr_t joint_
Joint the degrees of freedom of which the bounds correspond to.
Definition: solid-solid-collision.hh:33
CoefficientVelocity()
Definition: solid-solid-collision.hh:29
value_type value_
Definition: solid-solid-collision.hh:34