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// |
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// Copyright (c) 2019 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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#include <hpp/core/collision-path-validation-report.hh> |
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#include <hpp/core/collision-validation.hh> |
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#include <hpp/core/config-validations.hh> |
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#include <hpp/core/path-validation/discretized.hh> |
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#include <hpp/core/path.hh> |
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#include <hpp/pinocchio/device.hh> |
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#include <hpp/util/debug.hh> |
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namespace hpp { |
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namespace core { |
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namespace pathValidation { |
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HPP_PREDEF_CLASS(NoValidation); |
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typedef shared_ptr<NoValidation> NoValidationPtr_t; |
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class NoValidation : public PathValidation { |
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public: |
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// Validate all paths |
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virtual bool validate(const PathPtr_t& path, bool, PathPtr_t& validPart, |
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PathValidationReportPtr_t&) { |
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validPart = path; |
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return true; |
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} |
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static NoValidationPtr_t create(const DevicePtr_t&, const value_type&) { |
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NoValidation* ptr = new NoValidation(); |
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NoValidationPtr_t shPtr(ptr); |
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return shPtr; |
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} |
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protected: |
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NoValidation() {} |
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}; // class NoValidation |
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} // namespace pathValidation |
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} // namespace core |
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} // namespace hpp |
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