hpp-core: include/hpp/core/continuous-validation/dichotomy.hh Source File

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

Loading...
Searching...
No Matches
dichotomy.hh
Go to the documentation of this file.
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_CONTINUOUS_VALIDATION_DICHOTOMY_HH
31#define HPP_CORE_CONTINUOUS_VALIDATION_DICHOTOMY_HH
32
33#include <hpp/core/continuous-validation.hh>
34
35namespace hpp {
36namespace core {
37namespace continuousValidation {
40
53 class HPP_CORE_DLLAPI Dichotomy : public ContinuousValidation {
54 public:
58 static DichotomyPtr_t create(const DevicePtr_t& robot,
59 const value_type& tolerance);
60
61 virtual ~Dichotomy();
62
63 protected:
67 Dichotomy(const DevicePtr_t& robot, const value_type& tolerance);
69 void init(const DichotomyWkPtr_t weak);
70
71 private:
72 // Weak pointer to itself
73 DichotomyWkPtr_t weak_;
74 bool validateStraightPath(IntervalValidations_t& bodyPairCollisions,
75 const PathPtr_t& path, bool reverse,
76 PathPtr_t& validPart,
77 PathValidationReportPtr_t& report);
78 template <bool reverse>
79 bool validateStraightPath(IntervalValidations_t& bodyPairCollisions,
80 const PathPtr_t& path, PathPtr_t& validPart,
81 PathValidationReportPtr_t& report);
82}; // class Dichotomy
83} // namespace continuousValidation
85} // namespace core
86} // namespace hpp
87#endif // HPP_CORE_CONTINUOUS_VALIDATION_DICHOTOMY_HH
hpp::core::ContinuousValidation
Definition continuous-validation.hh:97
hpp::core::continuousValidation::Dichotomy
Definition dichotomy.hh:53
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
continuous-validation.hh
hpp::core::continuousValidation::Dichotomy::create
static DichotomyPtr_t create(const DevicePtr_t &robot, const value_type &tolerance)
hpp::core::continuousValidation::Dichotomy::Dichotomy
Dichotomy(const DevicePtr_t &robot, const value_type &tolerance)
hpp::core::continuousValidation::Dichotomy::~Dichotomy
virtual ~Dichotomy()
hpp::core::continuousValidation::Dichotomy::init
void init(const DichotomyWkPtr_t weak)
Store weak pointer to itself.
hpp
hpp::core::continuousValidation::IntervalValidations_t
std::vector< IntervalValidationPtr_t > IntervalValidations_t
Definition fwd.hh:270
hpp::core::continuousValidation::DichotomyPtr_t
shared_ptr< Dichotomy > DichotomyPtr_t
Definition fwd.hh:262
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134
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