| Directory: | ./ |
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| File: | src/path-validation.cc |
| Date: | 2024-08-10 11:29:48 |
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| Lines: | 9 | 9 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2022 CNRS Airbus S.A.S. | ||
| 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/path-validation.hh> | ||
| 31 | #include <hpp/core/straight-path.hh> | ||
| 32 | #include <hpp/pinocchio/liegroup-space.hh> | ||
| 33 | |||
| 34 | namespace hpp { | ||
| 35 | namespace core { | ||
| 36 | 200 | bool PathValidation::validate(ConfigurationIn_t q, | |
| 37 | ValidationReportPtr_t& report) { | ||
| 38 | // Create a straight path of length 0 with the configuration. | ||
| 39 | // The output space does not matter here since no Liegroup operation | ||
| 40 | // will be performed. Thus, we use Rn. | ||
| 41 | StraightPathPtr_t p( | ||
| 42 |
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400 | StraightPath::create(LiegroupSpace::Rn(q.size()), q, q, |
| 43 |
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600 | std::make_pair<value_type, value_type>(0, 0))); |
| 44 | 200 | PathPtr_t unused; | |
| 45 | 200 | PathValidationReportPtr_t r; | |
| 46 |
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200 | bool res(this->validate(p, false, unused, r)); |
| 47 |
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200 | if (r) report = r->configurationReport; |
| 48 | 200 | return res; | |
| 49 | 200 | } | |
| 50 | } // namespace core | ||
| 51 | } // namespace hpp | ||
| 52 |