hpp::rbprm::RbPrmRomValidation Class Reference

Validate a Rom configuration with respect to the reachability condition; a Rom Configuration is valid the object linked to it is colliding with the environment. More...

#include <hpp/rbprm/rbprm-rom-validation.hh>

Inheritance diagram for hpp::rbprm::RbPrmRomValidation:
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Collaboration diagram for hpp::rbprm::RbPrmRomValidation:
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Public Member Functions

virtual bool validate (const core::Configuration_t &config)
 Compute whether the configuration is valid. More...
 
virtual bool validate (const core::Configuration_t &config, core::ValidationReportPtr_t &validationReport)
 Compute whether the configuration is valid. More...
 
virtual void randomnizeCollisionPairs ()
 Rearrange the collisions pairs of all configValidation in a random manner. More...
 
void setOptional (bool optional)
 

Static Public Member Functions

static RbPrmRomValidationPtr_t create (const pinocchio::DevicePtr_t &robot, const std::vector< std::string > &affFilters=std::vector< std::string >())
 

Public Attributes

const std::vector< std::string > filter_
 

Protected Member Functions

 RbPrmRomValidation (const pinocchio::DevicePtr_t &robot, const std::vector< std::string > &affFilters)
 

Detailed Description

Validate a Rom configuration with respect to the reachability condition; a Rom Configuration is valid the object linked to it is colliding with the environment.

A normal filter can be optionnaly specified to only accept collision with obstacles aligned with special normal surfaces.

Constructor & Destructor Documentation

◆ RbPrmRomValidation()

hpp::rbprm::RbPrmRomValidation::RbPrmRomValidation ( const pinocchio::DevicePtr_t robot,
const std::vector< std::string > &  affFilters 
)
protected

Member Function Documentation

◆ create()

static RbPrmRomValidationPtr_t hpp::rbprm::RbPrmRomValidation::create ( const pinocchio::DevicePtr_t robot,
const std::vector< std::string > &  affFilters = std::vector< std::string >() 
)
static

◆ randomnizeCollisionPairs()

virtual void hpp::rbprm::RbPrmRomValidation::randomnizeCollisionPairs ( )
virtual

Rearrange the collisions pairs of all configValidation in a random manner.

randomnizeCollisionPairs

◆ setOptional()

void hpp::rbprm::RbPrmRomValidation::setOptional ( bool  optional)
inline

◆ validate() [1/2]

virtual bool hpp::rbprm::RbPrmRomValidation::validate ( const core::Configuration_t config)
virtual

Compute whether the configuration is valid.

Parameters
configthe config to check for validity
Returns
whether the whole config is valid.

◆ validate() [2/2]

virtual bool hpp::rbprm::RbPrmRomValidation::validate ( const core::Configuration_t config,
core::ValidationReportPtr_t &  validationReport 
)
virtual

Compute whether the configuration is valid.

Parameters
configthe config to check for validity,
Return values
validationReportreport on validation (used only for rom shape). This parameter will dynamically cast into CollisionValidationReport type,
Returns
whether the whole config is valid.

Member Data Documentation

◆ filter_

const std::vector<std::string> hpp::rbprm::RbPrmRomValidation::filter_