hpp-core: include/hpp/core/joint-bound-validation.hh Source File

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

Loading...
Searching...
No Matches
joint-bound-validation.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_JOINT_BOUND_VALIDATION_HH
31#define HPP_CORE_JOINT_BOUND_VALIDATION_HH
32
33#include <hpp/core/config-validation.hh>
34#include <hpp/pinocchio/joint.hh>
35
36namespace hpp {
37namespace core {
40
42 class HPP_CORE_DLLAPI JointBoundValidationReport : public ValidationReport {
43 public:
44 JointBoundValidationReport(const JointConstPtr_t& joint, size_type rank,
45 value_type lowerBound, value_type upperBound,
46 value_type value)
47 : ValidationReport(),
48 joint_(joint),
49 rank_(rank),
50 lowerBound_(lowerBound),
51 upperBound_(upperBound),
52 value_(value) {}
54 virtual std::ostream& print(std::ostream& os) const {
55 if (joint_) {
56 os << "Joint " << joint_->name() << ", rank: " << rank_
57 << ", value out of range: " << value_ << " not in [" << lowerBound_
58 << ", " << upperBound_ << "]";
59 } else {
60 os << "Extra config space at rank: " << rank_
61 << ", value out of range: " << value_ << " not in [" << lowerBound_
62 << ", " << upperBound_ << "]";
63 }
64 return os;
65 }
66
68 JointConstPtr_t joint_;
70 size_type rank_;
72 value_type lowerBound_;
74 value_type upperBound_;
76 value_type value_;
77};
78
81 class HPP_CORE_DLLAPI JointBoundValidation : public ConfigValidation {
82 public:
83 static JointBoundValidationPtr_t create(const DevicePtr_t& robot);
84
92 bool validate(const Configuration_t& config,
93 ValidationReportPtr_t& validationReport);
94
95 protected:
96 JointBoundValidation(const DevicePtr_t& robot);
97
98 private:
99 DevicePtr_t robot_;
100}; // class ConfigValidation
102} // namespace core
103} // namespace hpp
104
105#endif // HPP_CORE_JOINT_BOUND_VALIDATION_HH
hpp::core::ConfigValidation
Definition config-validation.hh:46
hpp::core::JointBoundValidationReport
report returned when a configuration is not within the bounds
Definition joint-bound-validation.hh:42
hpp::core::JointBoundValidationReport::joint_
JointConstPtr_t joint_
Joint the configuration value is out of bounds.
Definition joint-bound-validation.hh:68
hpp::core::JointBoundValidationReport::JointBoundValidationReport
JointBoundValidationReport(const JointConstPtr_t &joint, size_type rank, value_type lowerBound, value_type upperBound, value_type value)
Definition joint-bound-validation.hh:44
hpp::core::JointBoundValidationReport::rank_
size_type rank_
degree of freedom in the joint (usually 0)
Definition joint-bound-validation.hh:70
hpp::core::JointBoundValidationReport::lowerBound_
value_type lowerBound_
lower bound
Definition joint-bound-validation.hh:72
hpp::core::JointBoundValidationReport::print
virtual std::ostream & print(std::ostream &os) const
Print report in a stream.
Definition joint-bound-validation.hh:54
hpp::core::JointBoundValidationReport::upperBound_
value_type upperBound_
upper bound
Definition joint-bound-validation.hh:74
hpp::core::JointBoundValidationReport::value_
value_type value_
configuration value
Definition joint-bound-validation.hh:76
hpp::core::JointBoundValidation
Definition joint-bound-validation.hh:81
hpp::core::JointBoundValidation::JointBoundValidation
JointBoundValidation(const DevicePtr_t &robot)
hpp::core::JointBoundValidation::validate
bool validate(const Configuration_t &config, ValidationReportPtr_t &validationReport)
hpp::core::JointBoundValidation::create
static JointBoundValidationPtr_t create(const DevicePtr_t &robot)
hpp::core::ValidationReport
Definition validation-report.hh:47
config-validation.hh
HPP_CORE_DLLAPI
#define HPP_CORE_DLLAPI
Definition config.hh:88
joint.hh
hpp
hpp::core::value_type
pinocchio::value_type value_type
Definition fwd.hh:174
hpp::core::JointBoundValidationPtr_t
shared_ptr< JointBoundValidation > JointBoundValidationPtr_t
Definition fwd.hh:153
hpp::core::JointConstPtr_t
pinocchio::JointConstPtr_t JointConstPtr_t
Definition fwd.hh:150
hpp::core::size_type
pinocchio::size_type size_type
Definition fwd.hh:173
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