#include <hpp/rbprm/rbprm-validation.hh>
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virtual bool | validate (const core::Configuration_t &config) |
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virtual bool | validate (const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport) |
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virtual bool | validate (const core::Configuration_t &config, const std::vector< std::string > &filter) |
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virtual bool | validate (const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport, const std::vector< std::string > &filter) |
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virtual void | addObstacle (const core::CollisionObjectConstPtr_t &object) |
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virtual void | removeObstacleFromJoint (const core::JointPtr_t &joint, const core::CollisionObjectPtr_t &obstacle) |
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virtual void | randomnizeCollisionPairs () |
| randomnizeCollisionPairs More...
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void | computeAllContacts (bool computeAllContacts) |
| set if the collision validation should compute all the possible contacts or stop after the first pairs in collision This method set the parameter for all the romValidations_ objects (but not the trunk) More...
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static RbPrmValidationPtr_t | create (const pinocchio::RbPrmDevicePtr_t &robot, const std::vector< std::string > &filter=std::vector< std::string >(), const std::map< std::string, std::vector< std::string > > &affFilters=std::map< std::string, std::vector< std::string > >(), const affMap_t &affordances=affMap_t(), const core::ObjectStdVector_t &geometries=core::ObjectStdVector_t()) |
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Validate a configuration with respect to the reachability condition; a Configuration is valid if the trunk robot is collision free while the Range Of Motion of the is colliding.
◆ RbPrmValidation()
hpp::rbprm::RbPrmValidation::RbPrmValidation |
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const pinocchio::RbPrmDevicePtr_t & |
robot, |
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const std::vector< std::string > & |
filter, |
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const std::map< std::string, std::vector< std::string > > & |
affFilters, |
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const affMap_t & |
affordances, |
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const core::ObjectStdVector_t & |
geometries |
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◆ addObstacle()
virtual void hpp::rbprm::RbPrmValidation::addObstacle |
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const core::CollisionObjectConstPtr_t & |
object | ) |
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Add an obstacle to validation
- Parameters
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object | obstacle added Store obstacle and build a collision pair with each body of the robot. \notice this function has to be called for trunk validation and rom validation separately unless they use same obstacles (not usually the case) |
◆ computeAllContacts()
void hpp::rbprm::RbPrmValidation::computeAllContacts |
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bool |
computeAllContacts | ) |
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set if the collision validation should compute all the possible contacts or stop after the first pairs in collision This method set the parameter for all the romValidations_ objects (but not the trunk)
◆ create()
static RbPrmValidationPtr_t hpp::rbprm::RbPrmValidation::create |
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const pinocchio::RbPrmDevicePtr_t & |
robot, |
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const std::vector< std::string > & |
filter = std::vector< std::string >() , |
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const std::map< std::string, std::vector< std::string > > & |
affFilters = std::map< std::string, std::vector< std::string > >() , |
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const affMap_t & |
affordances = affMap_t() , |
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const core::ObjectStdVector_t & |
geometries = core::ObjectStdVector_t() |
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◆ randomnizeCollisionPairs()
virtual void hpp::rbprm::RbPrmValidation::randomnizeCollisionPairs |
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randomnizeCollisionPairs
Rearrange the collisions pairs of all configValidation in a random manner
◆ removeObstacleFromJoint()
virtual void hpp::rbprm::RbPrmValidation::removeObstacleFromJoint |
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const core::JointPtr_t & |
joint, |
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const core::CollisionObjectPtr_t & |
obstacle |
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Remove a collision pair between a joint and an obstacle
- Parameters
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the | joint that holds the inner objects, |
the | obstacle to remove. \notice This is applied for both trunk and rom shapes. This can be done for a single shape through trunkValidation_ and romValidation_ attributes. |
◆ validate() [1/4]
virtual bool hpp::rbprm::RbPrmValidation::validate |
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const core::Configuration_t & |
config | ) |
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Compute whether the configuration is valid
- Parameters
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config | the config to check for validity, |
throwIfInValid | if true throw an exception if config is invalid. |
- Returns
- whether the whole config is valid.
◆ validate() [2/4]
virtual bool hpp::rbprm::RbPrmValidation::validate |
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const core::Configuration_t & |
config, |
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const std::vector< std::string > & |
filter |
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Compute whether the configuration is valid
- Parameters
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config | the config to check for validity, |
- Return values
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validationReport | report on validation (used only for rom shape). This parameter will dynamically cast into CollisionValidationReport type, |
- Returns
- whether the whole config is valid.
◆ validate() [3/4]
virtual bool hpp::rbprm::RbPrmValidation::validate |
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const core::Configuration_t & |
config, |
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core::ValidationReportPtr_t & |
validationReport |
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Compute whether the configuration is valid
- Parameters
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config | the config to check for validity, |
- Return values
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validationReport | report on validation (used only for rom shape). This parameter will dynamically cast into CollisionValidationReport type, |
- Returns
- whether the whole config is valid.
◆ validate() [4/4]
virtual bool hpp::rbprm::RbPrmValidation::validate |
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const core::Configuration_t & |
config, |
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core::ValidationReportPtr_t & |
validationReport, |
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const std::vector< std::string > & |
filter |
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Compute whether the configuration is valid
- Parameters
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config | the config to check for validity, |
- Return values
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validationReport | report on validation (used only for rom shape). This parameter will dynamically cast into CollisionValidationReport type, |
- Parameters
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filter | specify constraints on all roms required to be in contact, will return false if all specified roms are not colliding |
- Returns
- whether the whole config is valid.
◆ boundValidation_
const core::JointBoundValidationPtr_t hpp::rbprm::RbPrmValidation::boundValidation_ |
◆ defaultFilter_
std::vector<std::string> hpp::rbprm::RbPrmValidation::defaultFilter_ |
◆ romValidations_
CollisionValidation for the range of motion of the limbs.
◆ trunkValidation_
const core::CollisionValidationPtr_t hpp::rbprm::RbPrmValidation::trunkValidation_ |
CollisionValidation for the trunk.
The documentation for this class was generated from the following file: