19 #ifndef HPP_RBPRM_VALIDATION_HH 20 # define HPP_RBPRM_VALIDATION_HH 22 # include <hpp/core/collision-validation-report.hh> 23 # include <hpp/core/config-validation.hh> 24 # include <hpp/core/collision-validation.hh> 25 # include <hpp/core/problem-solver.hh> 37 typedef hpp::core::Container <hpp::core::AffordanceObjects_t>
affMap_t;
50 const std::vector<std::string>& filter = std::vector<std::string>(),
51 const std::map<std::string, std::vector<std::string> >& affFilters =
52 std::map<std::string, std::vector<std::string> >(),
53 const affMap_t & affordances =
affMap_t(),
54 const core::ObjectStdVector_t& geometries =
55 core::ObjectStdVector_t());
62 virtual bool validate (
const core::Configuration_t& config);
70 virtual bool validate (
const core::Configuration_t& config,
71 core::ValidationReportPtr_t& validationReport);
79 virtual bool validate (
const core::Configuration_t& config,
80 const std::vector<std::string>& filter);
90 virtual bool validate (
const core::Configuration_t& config,
91 core::ValidationReportPtr_t& validationReport,
92 const std::vector<std::string>& filter);
100 virtual void addObstacle (
const core::CollisionObjectConstPtr_t&
object);
107 virtual void removeObstacleFromJoint
108 (
const core::JointPtr_t& joint,
const core::CollisionObjectPtr_t& obstacle);
114 virtual void randomnizeCollisionPairs();
120 void computeAllContacts(
bool computeAllContacts);
129 virtual bool validateTrunk(
const core::Configuration_t& config,
130 hpp::core::ValidationReportPtr_t &validationReport);
135 bool validateRoms(
const core::Configuration_t& config);
141 bool validateRoms(
const core::Configuration_t& config,
149 bool validateRoms(
const core::Configuration_t& config,
150 const std::vector<std::string>& filter);
156 bool validateRoms(
const core::Configuration_t& config,
157 const std::vector<std::string>& filter,
170 const std::vector<std::string>& filter,
171 const std::map<std::string,
172 std::vector<std::string> >& affFilters,
173 const affMap_t& affordances,
174 const core::ObjectStdVector_t& geometries);
178 core::ValidationReportPtr_t unusedReport_;
185 #endif // HPP_RBPRM_VALIDATION_HH
hpp::core::Container< hpp::core::AffordanceObjects_t > affMap_t
Definition: rbprm-fullbody.hh:47
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64
Definition: algorithm.hh:27
const core::CollisionValidationPtr_t trunkValidation_
CollisionValidation for the trunk.
Definition: rbprm-validation.hh:162
const T_RomValidation romValidations_
CollisionValidation for the range of motion of the limbs.
Definition: rbprm-validation.hh:165
const core::JointBoundValidationPtr_t boundValidation_
Definition: rbprm-validation.hh:163
boost::shared_ptr< RbPrmDevice > RbPrmDevicePtr_t
Definition: dynamic-validation.hh:27
boost::shared_ptr< RbprmValidationReport > RbprmValidationReportPtr_t
Definition: rbprm-validation-report.hh:29
std::map< std::string, RbPrmRomValidationPtr_t > T_RomValidation
Definition: rbprm-validation.hh:36
boost::shared_ptr< RbPrmValidation > RbPrmValidationPtr_t
Definition: rbprm-validation.hh:34
Definition: rbprm-validation.hh:46
std::vector< std::string > defaultFilter_
Definition: rbprm-validation.hh:166