hpp-core: include/hpp/core/collision-validation.hh Source File

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

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collision-validation.hh
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1//
2// Copyright (c) 2014 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
26// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
27// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
28// DAMAGE.
29
30#ifndef HPP_CORE_COLLISION_VALIDATION_HH
31#define HPP_CORE_COLLISION_VALIDATION_HH
32
33#include <coal/collision_data.h>
34
35#include <hpp/core/collision-validation-report.hh>
36#include <hpp/core/config-validation.hh>
37#include <hpp/core/obstacle-user.hh>
38
39namespace hpp {
40namespace core {
43
46 class HPP_CORE_DLLAPI CollisionValidation : public ConfigValidation,
47 public ObstacleUser {
48 public:
49 static CollisionValidationPtr_t create(const DevicePtr_t& robot);
50
58 virtual bool validate(const Configuration_t& config,
59 ValidationReportPtr_t& validationReport);
60
61 void checkParameterized(bool active) { checkParameterized_ = active; }
62
63 void computeAllContacts(bool computeAllContacts) {
64 computeAllContacts_ = computeAllContacts;
65 }
66
67 bool checkParameterized() const { return checkParameterized_; }
68
69 protected:
70 CollisionValidation(const DevicePtr_t& robot);
71 DevicePtr_t robot_;
72
73 private:
74 bool checkParameterized_;
75 bool computeAllContacts_;
76
77}; // class ConfigValidation
79} // namespace core
80} // namespace hpp
81
82#endif // HPP_CORE_COLLISION_VALIDATION_HH
hpp::core::CollisionValidation
Definition collision-validation.hh:47
hpp::core::CollisionValidation::create
static CollisionValidationPtr_t create(const DevicePtr_t &robot)
hpp::core::CollisionValidation::validate
virtual bool validate(const Configuration_t &config, ValidationReportPtr_t &validationReport)
hpp::core::CollisionValidation::computeAllContacts
void computeAllContacts(bool computeAllContacts)
Definition collision-validation.hh:63
hpp::core::CollisionValidation::robot_
DevicePtr_t robot_
Definition collision-validation.hh:71
hpp::core::CollisionValidation::checkParameterized
void checkParameterized(bool active)
Definition collision-validation.hh:61
hpp::core::CollisionValidation::checkParameterized
bool checkParameterized() const
Definition collision-validation.hh:67
hpp::core::CollisionValidation::CollisionValidation
CollisionValidation(const DevicePtr_t &robot)
hpp::core::ConfigValidation
Definition config-validation.hh:46
hpp::core::ObstacleUser
Stores a set of obstacles (movable or static).
Definition obstacle-user.hh:186
collision-validation-report.hh
config-validation.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
hpp
hpp::core::CollisionValidationPtr_t
shared_ptr< CollisionValidation > CollisionValidationPtr_t
Definition fwd.hh:95
hpp::core::ValidationReportPtr_t
shared_ptr< ValidationReport > ValidationReportPtr_t
Definition fwd.hh:225
hpp::core::Configuration_t
pinocchio::Configuration_t Configuration_t
Definition fwd.hh:107
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
obstacle-user.hh