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> >(),
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,
174 const core::ObjectStdVector_t& geometries);
178 core::ValidationReportPtr_t unusedReport_;
185 #endif // HPP_RBPRM_VALIDATION_HH