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;
49 const std::vector<std::string>& filter = std::vector<std::string>(),
50 const std::map<std::string, std::vector<std::string> >& affFilters =
51 std::map<std::string, std::vector<std::string> >(),
53 const core::ObjectStdVector_t& geometries = core::ObjectStdVector_t());
60 virtual bool validate(
const core::Configuration_t& config);
68 virtual bool validate(
const core::Configuration_t& config, core::ValidationReportPtr_t& validationReport);
76 virtual bool validate(
const core::Configuration_t& config,
const std::vector<std::string>& filter);
86 virtual bool validate(
const core::Configuration_t& config, core::ValidationReportPtr_t& validationReport,
87 const std::vector<std::string>& filter);
94 virtual void addObstacle(
const core::CollisionObjectConstPtr_t&
object);
101 virtual void removeObstacleFromJoint(
const core::JointPtr_t& joint,
const core::CollisionObjectPtr_t& obstacle);
106 virtual void randomnizeCollisionPairs();
112 void computeAllContacts(
bool computeAllContacts);
121 virtual bool validateTrunk(
const core::Configuration_t& config, hpp::core::ValidationReportPtr_t& validationReport);
126 bool validateRoms(
const core::Configuration_t& config);
139 bool validateRoms(
const core::Configuration_t& config,
const std::vector<std::string>& filter);
145 bool validateRoms(
const core::Configuration_t& config,
const std::vector<std::string>& filter,
158 const std::map<std::string, std::vector<std::string> >& affFilters,
const affMap_t& affordances,
159 const core::ObjectStdVector_t& geometries);
162 core::ValidationReportPtr_t unusedReport_;
169 #endif // HPP_RBPRM_VALIDATION_HH