hpp-rbprm  4.10.1
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>
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  public:
42  static RbPrmRomValidationPtr_t create(const pinocchio::DevicePtr_t& robot,
43  const std::vector<std::string>& affFilters = std::vector<std::string>());
44 
49  virtual bool validate(const core::Configuration_t& config);
50 
57  virtual bool validate(const core::Configuration_t& config, core::ValidationReportPtr_t& validationReport);
58 
62  virtual void randomnizeCollisionPairs();
63 
64  public:
65  const std::vector<std::string> filter_;
66 
67  void setOptional(bool optional) { optional_ = optional; }
68 
69  protected:
70  RbPrmRomValidation(const pinocchio::DevicePtr_t& robot, const std::vector<std::string>& affFilters);
71 
72  private:
73  core::ValidationReportPtr_t unusedReport_;
74  bool optional_;
75 
76 }; // class RbPrmValidation
78 } // namespace rbprm
79 } // namespace hpp
80 
81 #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:67
rbprm-device.hh
hpp::rbprm::RbPrmRomValidation::filter_
const std::vector< std::string > filter_
Definition: rbprm-rom-validation.hh:65
hpp
Definition: algorithm.hh:27
config.hh
HPP_RBPRM_DLLAPI
#define HPP_RBPRM_DLLAPI
Definition: config.hh:64