hpp-rbprm  4.10.0
Implementation of RB-PRM planner using hpp.
rbprm-rom-validation.hh
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1 //
2 // Copyright (c) 2014 CNRS
3 // Authors: Steve Tonneau
4 //
5 // This file is part of hpp-rbprm
6 // hpp-rbprm 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_ROM_VALIDATION_HH
20 # define HPP_RBPRM_ROM_VALIDATION_HH
21 
22 # include <hpp/core/collision-validation.hh>
23 # include <hpp/rbprm/rbprm-device.hh>
24 # include <hpp/rbprm/config.hh>
25 
26 namespace hpp {
27  namespace rbprm {
28 
30  typedef boost::shared_ptr <RbPrmRomValidation> RbPrmRomValidationPtr_t;
31 
34 
40  class HPP_RBPRM_DLLAPI RbPrmRomValidation : public core::CollisionValidation
41  {
42  public:
43  static RbPrmRomValidationPtr_t create (const pinocchio::DevicePtr_t& robot,
44  const std::vector<std::string>& affFilters
45  = std::vector<std::string>());
46 
51  virtual bool validate (const core::Configuration_t& config);
52 
59  virtual bool validate (const core::Configuration_t& config, core::ValidationReportPtr_t& validationReport);
60 
64  virtual void randomnizeCollisionPairs();
65 
66  public:
67  const std::vector<std::string> filter_;
68 
69  void setOptional(bool optional){optional_ = optional;}
70  protected:
71  RbPrmRomValidation (const pinocchio::DevicePtr_t &robot,
72  const std::vector<std::string>& affFilters);
73  private:
74  core::ValidationReportPtr_t unusedReport_;
75  bool optional_;
76 
77  }; // class RbPrmValidation
79  } // namespace rbprm
80 } // namespace hpp
81 
82 #endif // HPP_RBPRM_ROM_VALIDATION_HH
hpp::rbprm::RbPrmRomValidationPtr_t
boost::shared_ptr< RbPrmRomValidation > RbPrmRomValidationPtr_t
Definition: rbprm-rom-validation.hh:29
hpp::rbprm::RbPrmRomValidation
Definition: rbprm-rom-validation.hh:40
hpp::rbprm::RbPrmRomValidation::setOptional
void setOptional(bool optional)
Definition: rbprm-rom-validation.hh:69
rbprm-device.hh
hpp::rbprm::RbPrmRomValidation::filter_
const std::vector< std::string > filter_
Definition: rbprm-rom-validation.hh:67
hpp
Definition: algorithm.hh:27
config.hh
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64