how to upgrade user's code when switching to a more recent version of hpp-core.
Porting from version 3.1 to version 3.2
Modification in validation
reports
Validation reports used to be passed by reference to validation methods. This avoided unnecessary dynamic allocation since the user would create a report of the right type and call the validation method. This strategy however is not scalable to an extension of the hierarchy of validation methods and of validation reports. For this reason the following modifications have been done.
The following methods related to configuration validation have been removed
config, bool throwIfInValid) = 0
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:106
virtual bool
ConfigValidation::validate (
const Configuration_t& config, ValidationReport&
validationReport, bool throwIfInValid) = 0
config, bool throwIfInValid)
virtual bool
ConfigValidations::validate (
const Configuration_t& config, ValidationReport&
validationReport, bool throwIfInValid)
config, bool throwIfInValid)
virtual bool
CollisionValidation::validate (
const Configuration_t& config, ValidationReport&
validationReport, bool throwIfInValid)
config, bool throwIfInValid)
virtual bool
JointBoundValidation::validate (
const Configuration_t& config, ValidationReport&
validationReport, bool throwIfInValid)
Methods taking a ValidationReportPtr_t&
as second argument should be used instead.
The following methods related to path validation have been removed
virtual bool PathValidation::validate (
const PathPtr_t& path,
bool
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
virtual bool
validPart, ValidationReport& report) = 0
virtual bool DiscretizedCollisionChecking::validate (
const PathPtr_t&
virtual bool
DiscretizedCollisionChecking::validate (
const PathPtr_t& path,
bool reverse,
PathPtr_t& validPart, ValidationReport& validationReport)
virtual bool continuousCollisionChecking::Dichotomy::validate (const
virtual
bool continuousCollisionChecking::Dichotomy::validate (
const PathPtr_t& path,
bool reverse,
PathPtr_t& validPart, ValidationReport& validationReport)
virtual bool continuousCollisionChecking::Progressive::validate (const
virtual
bool continuousCollisionChecking::Progressive::validate (
const PathPtr_t& path,
bool reverse,
PathPtr_t& validPart, ValidationReport& validationReport)
Methods taking a reference to a PathValidationReportPtr_t
as fourth argument should be used instead.