hpp-core: include/hpp/core/path-validation/discretized.hh Source File

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

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discretized.hh
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1//
2// Copyright (c) 2015 CNRS
3// Authors: Florent Lamiraux
4//
5
6// Redistribution and use in source and binary forms, with or without
7// modification, are permitted provided that the following conditions are
8// met:
9//
10// 1. Redistributions of source code must retain the above copyright
11// notice, this list of conditions and the following disclaimer.
12//
13// 2. Redistributions in binary form must reproduce the above copyright
14// notice, this list of conditions and the following disclaimer in the
15// documentation and/or other materials provided with the distribution.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
18// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
19// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
20// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
21// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
22// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
23// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
24// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
25// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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28// DAMAGE.
29
30#ifndef HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
31#define HPP_CORE_PATH_VALIDATION_DISCRETIZED_HH
32
33#include <hpp/core/config-validations.hh>
34#include <hpp/core/path-validation.hh>
35
36namespace hpp {
37namespace core {
38namespace pathValidation {
41
46 class HPP_CORE_DLLAPI Discretized : public PathValidation,
47 public ConfigValidations {
48 public:
49 static DiscretizedPtr_t create(const value_type& stepSize);
50 static DiscretizedPtr_t create(
51 const value_type& stepSize,
52 std::initializer_list<ConfigValidationPtr_t> validations);
53
63 virtual bool validate(const PathPtr_t& path, bool reverse,
64 PathPtr_t& validPart,
65 PathValidationReportPtr_t& report);
66
72 virtual bool validate(ConfigurationIn_t q, ValidationReportPtr_t& report);
73
74 virtual ~Discretized() {};
75
76 protected:
77 Discretized(const value_type& stepSize) : stepSize_(stepSize) {}
78 Discretized(const value_type& stepSize,
79 std::initializer_list<ConfigValidationPtr_t> validations)
80 : ConfigValidations(validations), stepSize_(stepSize) {};
81
82 value_type stepSize_;
83}; // class Discretized
85} // namespace pathValidation
86} // namespace core
87} // namespace hpp
88
89#endif // HPP_CORE_DISCRETIZED_PATH_VALIDATION_HH
hpp::core::ConfigValidations
Definition config-validations.hh:45
hpp::core::PathValidation
Definition path-validation.hh:51
hpp::core::pathValidation::Discretized
Definition discretized.hh:47
hpp::core::pathValidation::Discretized::validate
virtual bool validate(ConfigurationIn_t q, ValidationReportPtr_t &report)
hpp::core::pathValidation::Discretized::Discretized
Discretized(const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations)
Definition discretized.hh:78
hpp::core::pathValidation::Discretized::Discretized
Discretized(const value_type &stepSize)
Definition discretized.hh:77
hpp::core::pathValidation::Discretized::create
static DiscretizedPtr_t create(const value_type &stepSize)
hpp::core::pathValidation::Discretized::~Discretized
virtual ~Discretized()
Definition discretized.hh:74
hpp::core::pathValidation::Discretized::stepSize_
value_type stepSize_
Definition discretized.hh:82
hpp::core::pathValidation::Discretized::create
static DiscretizedPtr_t create(const value_type &stepSize, std::initializer_list< ConfigValidationPtr_t > validations)
hpp::core::pathValidation::Discretized::validate
virtual bool validate(const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)
config-validations.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::pathValidation::DiscretizedPtr_t
shared_ptr< Discretized > DiscretizedPtr_t
Definition fwd.hh:324
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::ConfigurationIn_t
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition fwd.hh:108
hpp::core::ValidationReportPtr_t
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition fwd.hh:225
hpp::core::PathPtr_t
shared_ptr< Path > PathPtr_t
Definition fwd.hh:187
hpp::core::PathValidationReportPtr_t
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition fwd.hh:329
path-validation.hh