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// |
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// Copyright (c) 2017 CNRS |
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// Authors: Diane Bury |
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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-validations.hh> |
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#include <hpp/core/path.hh> |
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#include <hpp/pinocchio/device.hh> |
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namespace hpp { |
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namespace core { |
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PathValidationsPtr_t PathValidations::create() { |
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PathValidations* ptr = new PathValidations(); |
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return PathValidationsPtr_t(ptr); |
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} |
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void PathValidations::addPathValidation( |
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const PathValidationPtr_t& pathValidation) { |
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validations_.push_back(pathValidation); |
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} |
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bool PathValidations::validate(const PathPtr_t& path, bool reverse, |
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PathPtr_t& validPart, |
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PathValidationReportPtr_t& validationReport) { |
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PathPtr_t tempPath = path; |
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PathPtr_t tempValidPart; |
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PathValidationReportPtr_t tempValidationReport; |
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bool result = true; |
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value_type lastValidTime = path->timeRange().second; |
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value_type t = lastValidTime; |
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for (std::vector<PathValidationPtr_t>::iterator it = validations_.begin(); |
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it != validations_.end(); ++it) { |
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if ((*it)->validate(tempPath, reverse, tempValidPart, |
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tempValidationReport) == false) { |
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t = tempValidationReport->getParameter(); |
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if (t < lastValidTime) { |
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lastValidTime = t; |
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tempPath = tempValidPart; |
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} |
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result = false; |
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} |
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} |
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validPart = tempPath; |
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validationReport->setParameter(lastValidTime); |
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return result; |
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} |
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bool PathValidations::validate(ConfigurationIn_t q, |
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ValidationReportPtr_t& report) { |
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for (auto pv : validations_) { |
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bool res(pv->validate(q, report)); |
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if (!res) return false; |
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} |
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return true; |
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} |
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PathValidations::PathValidations() {} |
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} // namespace core |
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} // namespace hpp |
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