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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_CORE_CONFIG_VALIDATIONS_HH |
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#define HPP_CORE_CONFIG_VALIDATIONS_HH |
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#include <hpp/core/config-validation.hh> |
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#include <hpp/core/obstacle-user.hh> |
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namespace hpp { |
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namespace core { |
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/// \addtogroup validation |
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/// \{ |
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/// Validate a configuration with respect to collision |
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/// |
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class HPP_CORE_DLLAPI ConfigValidations |
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: public ConfigValidation, |
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public ObstacleUserVector<ConfigValidationPtr_t> { |
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public: |
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static ConfigValidationsPtr_t create(); |
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/// Compute whether the configuration is valid |
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/// |
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/// \param config the config to check for validity, |
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/// \retval validationReport report on validation. If non valid, |
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/// a validation report will be allocated and returned via this |
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/// shared pointer. |
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/// \return whether the whole config is valid. |
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virtual bool validate(const Configuration_t& config, |
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ValidationReportPtr_t& validationReport); |
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/// Add a configuration validation object |
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void add(const ConfigValidationPtr_t& configValidation); |
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/// Return the number of config validations |
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size_type numberConfigValidations() const; |
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protected: |
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ConfigValidations() = default; |
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ConfigValidations(std::initializer_list<ConfigValidationPtr_t> validations) |
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: ObstacleUserVector(validations) {}; |
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}; // class ConfigValidation |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_CONFIG_VALIDATIONS_HH |
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