hpp-core: hpp::core::continuousValidation::Progressive Class Reference

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
hpp::core::continuousValidation::Progressive Class Reference
Validation of configurations and paths

`#include <hpp/core/continuous-validation/progressive.hh>`

Inheritance diagram for hpp::core::continuousValidation::Progressive:
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Collaboration diagram for hpp::core::continuousValidation::Progressive:
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## Public Member Functions
virtual | ~Progressive ()
Public Member Functions inherited from hpp::core::ContinuousValidation
virtual bool | validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)
virtual void | addObstacle (const CollisionObjectConstPtr_t &object)
virtual void | removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
void | filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)
virtual void | setSecurityMargins (const matrix_t &securityMatrix)
virtual void | setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)
void | addIntervalValidation (const IntervalValidationPtr_t &intervalValidation)
value_type | tolerance () const
| Get tolerance value.
value_type | breakDistance () const
void | breakDistance (value_type distance)
DevicePtr_t | robot () const
void | initialize ()
virtual | ~ContinuousValidation ()
template<class Delegate >
void | add (const Delegate &delegate)
template<class Delegate >
void | reset ()
Public Member Functions inherited from hpp::core::PathValidation
virtual bool | validate (ConfigurationIn_t q, ValidationReportPtr_t &report)
virtual | ~PathValidation ()
Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual | ~ObstacleUserInterface ()=default

## Static Public Member Functions
static ProgressivePtr_t | create (const DevicePtr_t &robot, const value_type &tolerance)

## Protected Member Functions
| Progressive (const DevicePtr_t &robot, const value_type &tolerance)
void | init (const ProgressiveWkPtr_t weak)
| Store weak pointer to itself.
Protected Member Functions inherited from hpp::core::ContinuousValidation
| ContinuousValidation (const DevicePtr_t &robot, const value_type &tolerance)
virtual bool | validateConfiguration (IntervalValidations_t &intervalValidations, const Configuration_t &config, const value_type &t, interval_t &interval, PathValidationReportPtr_t &report)
bool | validateIntervals (IntervalValidations_t &validations, const value_type &t, interval_t &interval, PathValidationReportPtr_t &pathReport, typename IntervalValidations_t::iterator &smallestInterval, pinocchio::DeviceData &data)
void | init (ContinuousValidationWkPtr_t weak)
| Store weak pointer to itself.
Protected Member Functions inherited from hpp::core::PathValidation
| PathValidation ()

## Additional Inherited Members
Protected Types inherited from hpp::core::ContinuousValidation
typedef continuousValidation::IntervalValidations_t | IntervalValidations_t
Static Protected Member Functions inherited from hpp::core::ContinuousValidation
static void | setPath (IntervalValidations_t &intervalValidations, const PathPtr_t &path, bool reverse)
Protected Attributes inherited from hpp::core::ContinuousValidation
DevicePtr_t | robot_
value_type | tolerance_
value_type | breakDistance_
IntervalValidations_t | intervalValidations_
| All BodyPairValidation to validate.
IntervalValidations_t | disabledBodyPairCollisions_
| BodyPairCollision for which collision is disabled.
pinocchio::Pool< IntervalValidations_t > | bodyPairCollisionPool_
value_type | stepSize_

## Detailed Description

Continuous validation of a path

This class is a specialization of ContinuousValidation.

The interval validation is performed by

- validating the beginning of the interval (or the end if paramater reverse is set to true when calling ContinuousValidation::validate),
- validate intervals centered at the end of the current validated interval (or at the beginning if reverse is set to true).

See this document for details.

The documentation for this class was generated from the following file:

- include/hpp/core/continuous-validation/progressive.hh