hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
time-constraint-path-validation.hh
Go to the documentation of this file.
1 //
2 // Copyright (c) 2015 CNRS
3 // Authors: Florent Lamiraux
4 //
5 // This file is part of hpp-core
6 // hpp-core is free software: you can redistribute it
7 // and/or modify it under the terms of the GNU Lesser General Public
8 // License as published by the Free Software Foundation, either version
9 // 3 of the License, or (at your option) any later version.
10 //
11 // hpp-core is distributed in the hope that it will be
12 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
13 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 // General Lesser Public License for more details. You should have
15 // received a copy of the GNU Lesser General Public License along with
16 // hpp-core If not, see
17 // <http://www.gnu.org/licenses/>.
18 
19 #ifndef HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
20 # define HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
21 
22 # include <hpp/core/path-validation/discretized.hh>
23 
24 namespace hpp {
25  namespace rbprm {
26  namespace interpolation {
27  HPP_PREDEF_CLASS(TimeConstraintPathValidation);
28 
30  typedef boost::shared_ptr <TimeConstraintPathValidation> TimeConstraintPathValidationPtr_t;
33 
38  class HPP_CORE_DLLAPI TimeConstraintPathValidation : public core::pathValidation::Discretized
39  {
40  public:
42  create (const pinocchio::DevicePtr_t& robot, const pinocchio::value_type& stepSize, const std::size_t pathDofRank);
43 
57  virtual bool validate (const core::PathPtr_t& path, bool reverse,
58  core::PathPtr_t& validPart,
59  core::PathValidationReportPtr_t& report);
60 
61  public:
62  const std::size_t pathDofRank_;
63 
64  protected:
66  (const pinocchio::DevicePtr_t& robot, const pinocchio::value_type& stepSize, const std::size_t pathDofRank);
67  }; // class DiscretizedPathValidation
69  } // namespace interpolation
70  } // namespace rbprm
71 } // namespace hpp
72 
73 #endif // HPP_RBPRM_TIME_CONSTRAINT_PATH_VALIDATION_HH
hpp::rbprm::interpolation::TimeConstraintPathValidation
Definition: time-constraint-path-validation.hh:38
hpp::rbprm::interpolation::TimeConstraintPathValidation::pathDofRank_
const std::size_t pathDofRank_
Definition: time-constraint-path-validation.hh:62
hpp::rbprm::interpolation::TimeConstraintPathValidationPtr_t
boost::shared_ptr< TimeConstraintPathValidation > TimeConstraintPathValidationPtr_t
Definition: time-constraint-path-validation.hh:29
hpp
Definition: algorithm.hh:27
hpp::rbprm::interpolation::HPP_PREDEF_CLASS
HPP_PREDEF_CLASS(ComTrajectory)