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

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

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discretized-collision-checking.hh
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1//
2// Copyright (c) 2018 CNRS
3// Authors: Florent Lamiraux, Joseph Mirabel
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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29
30#ifndef HPP_CORE_PATH_VALIDATION_DISCRETIZED_COLLISION_CHECKING_HH
31#define HPP_CORE_PATH_VALIDATION_DISCRETIZED_COLLISION_CHECKING_HH
32
33#include <hpp/core/path-validation/discretized.hh>
34
35namespace hpp {
36namespace core {
37namespace pathValidation {
40
42 DiscretizedPtr_t createDiscretizedCollisionChecking(const DevicePtr_t& robot,
43 const value_type& stepSize);
44
46} // namespace pathValidation
47} // namespace core
48} // namespace hpp
49
50#endif // HPP_CORE_PATH_VALIDATION_DISCRETIZED_COLLISION_CHECKING_HH
discretized.hh
hpp::core::pathValidation::createDiscretizedCollisionChecking
DiscretizedPtr_t createDiscretizedCollisionChecking(const DevicePtr_t &robot, const value_type &stepSize)
Validation of path by collision checking at discretized parameter values.
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::DevicePtr_t
pinocchio::DevicePtr_t DevicePtr_t
Definition fwd.hh:134