| Directory: | ./ |
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| File: | src/path-validation/discretized-collision-checking.cc |
| Date: | 2024-08-10 11:29:48 |
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| 1 | // | ||
| 2 | // Copyright (c) 2014 CNRS | ||
| 3 | // Authors: Florent Lamiraux | ||
| 4 | // | ||
| 5 | |||
| 6 | // Redistribution and use in source and binary forms, with or without | ||
| 7 | // modification, are permitted provided that the following conditions are | ||
| 8 | // met: | ||
| 9 | // | ||
| 10 | // 1. Redistributions of source code must retain the above copyright | ||
| 11 | // notice, this list of conditions and the following disclaimer. | ||
| 12 | // | ||
| 13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 14 | // notice, this list of conditions and the following disclaimer in the | ||
| 15 | // documentation and/or other materials provided with the distribution. | ||
| 16 | // | ||
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 28 | // DAMAGE. | ||
| 29 | |||
| 30 | #include <hpp/core/collision-validation.hh> | ||
| 31 | #include <hpp/core/path-validation/discretized-collision-checking.hh> | ||
| 32 | #include <hpp/core/path-validation/discretized.hh> | ||
| 33 | |||
| 34 | namespace hpp { | ||
| 35 | namespace core { | ||
| 36 | namespace pathValidation { | ||
| 37 | 62 | DiscretizedPtr_t createDiscretizedCollisionChecking( | |
| 38 | const DevicePtr_t& robot, const value_type& stepSize) { | ||
| 39 |
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62 | DiscretizedPtr_t pv(Discretized::create(stepSize)); |
| 40 |
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62 | CollisionValidationPtr_t cv(CollisionValidation::create(robot)); |
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62 | pv->add(cv); |
| 42 | 124 | return pv; | |
| 43 | 62 | } | |
| 44 | } // namespace pathValidation | ||
| 45 | } // namespace core | ||
| 46 | } // namespace hpp | ||
| 47 |