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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_PATH_VALIDATION_HH |
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#define HPP_CORE_PATH_VALIDATION_HH |
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#include <hpp/core/config.hh> |
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#include <hpp/core/fwd.hh> |
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#include <hpp/core/relative-motion.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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/// Abstraction of path validation |
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/// |
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/// Instances of this class compute the latest valid configuration along |
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/// a path. |
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/// |
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/// Method \code validate(ConfigurationIn_t q) \endcode is provided to |
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/// validate single configurations. It is particularly useful to test |
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/// the initial and goal configurations of a path planning problem using |
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/// this path validation. |
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class HPP_CORE_DLLAPI PathValidation { |
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public: |
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/// Compute the largest valid interval starting from the path beginning |
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/// |
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/// \param path the path to check for validity, |
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/// \param reverse if true check from the end, |
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/// \retval the extracted valid part of the path, pointer to path if |
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/// path is valid. |
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/// \retval report information about the validation process. A report |
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/// is allocated if the path is not valid. |
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/// \return whether the whole path is valid. |
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virtual bool validate(const PathPtr_t& path, bool reverse, |
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PathPtr_t& validPart, |
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PathValidationReportPtr_t& report) = 0; |
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/// Validate a single configuration |
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/// \param q input configuration, |
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/// \retval report validation report. |
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/// The default implementation builds a straight path of length 0 |
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/// with the input configuration and validates the path. |
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virtual bool validate(ConfigurationIn_t q, ValidationReportPtr_t& report); |
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virtual ~PathValidation() {}; |
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protected: |
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PathValidation() {} |
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}; // class PathValidation |
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/// \} |
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} // namespace core |
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} // namespace hpp |
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#endif // HPP_CORE_PATH_VALIDATION_HH |
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