#include <hpp/rbprm/dynamic/dynamic-validation.hh>
◆ DynamicValidation()
hpp::rbprm::DynamicValidation::DynamicValidation |
( |
bool |
rectangularContact, |
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double |
sizeFootX, |
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double |
sizeFootY, |
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double |
mass, |
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double |
mu, |
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core::DevicePtr_t |
robot |
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) |
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protected |
◆ create()
◆ setInitialReport()
void hpp::rbprm::DynamicValidation::setInitialReport |
( |
core::ValidationReportPtr_t |
initialReport | ) |
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◆ validate()
virtual bool hpp::rbprm::DynamicValidation::validate |
( |
const core::Configuration_t & |
config, |
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core::ValidationReportPtr_t & |
validationReport |
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) |
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virtual |
Compute whether the configuration is valid.
- Parameters
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config | the config to check for validity, |
- Return values
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validationReport | report on validation. Must be a valid rbprmReport with the latest collision informations. If non valid, a new validation report will be allocated and returned via this shared pointer. |
- Returns
- whether the whole config is valid.