hpp::rbprm::interpolation::TimeConstraintPathValidation Class Reference

Discretized validation of a path for the LimbRRT algorithm. More...

#include <hpp/rbprm/interpolation/time-constraint-path-validation.hh>

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Public Member Functions

virtual bool validate (const core::PathPtr_t &path, bool reverse, core::PathPtr_t &validPart, core::PathValidationReportPtr_t &report)
 Compute the largest valid interval starting from the path beginning In the context of the LimbRRT algoritm, a path is only valid if the extra DOF value of the first configuration of the path is lower than the one of the last configuration. More...
 

Static Public Member Functions

static TimeConstraintPathValidationPtr_t create (const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
 

Public Attributes

const std::size_t pathDofRank_
 

Protected Member Functions

 TimeConstraintPathValidation (const pinocchio::DevicePtr_t &robot, const pinocchio::value_type &stepSize, const std::size_t pathDofRank)
 

Detailed Description

Discretized validation of a path for the LimbRRT algorithm.

Apply some configuration validation algorithms at discretized values of the path parameter.

Constructor & Destructor Documentation

◆ TimeConstraintPathValidation()

hpp::rbprm::interpolation::TimeConstraintPathValidation::TimeConstraintPathValidation ( const pinocchio::DevicePtr_t robot,
const pinocchio::value_type stepSize,
const std::size_t  pathDofRank 
)
protected

Member Function Documentation

◆ create()

static TimeConstraintPathValidationPtr_t hpp::rbprm::interpolation::TimeConstraintPathValidation::create ( const pinocchio::DevicePtr_t robot,
const pinocchio::value_type stepSize,
const std::size_t  pathDofRank 
)
static

◆ validate()

virtual bool hpp::rbprm::interpolation::TimeConstraintPathValidation::validate ( const core::PathPtr_t &  path,
bool  reverse,
core::PathPtr_t &  validPart,
core::PathValidationReportPtr_t &  report 
)
virtual

Compute the largest valid interval starting from the path beginning In the context of the LimbRRT algoritm, a path is only valid if the extra DOF value of the first configuration of the path is lower than the one of the last configuration.

See the documentation of interpolateStates for details

Parameters
paththe path to check for validity,
reverseif true check from the end,
Return values
theextracted valid part of the path, pointer to path if path is valid.
reportinformation about the validation process. A report is allocated if the path is not valid.
Returns
whether the whole path is valid.

Member Data Documentation

◆ pathDofRank_

const std::size_t hpp::rbprm::interpolation::TimeConstraintPathValidation::pathDofRank_