Validation of configurations and paths

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization. More...

Classes
struct	hpp::core::CollisionPathValidationReport
	Path validation report used for standard collision checking. More...
struct	hpp::core::CollisionValidationReport
	Validate a configuration with respect to collision. More...
struct	hpp::core::AllCollisionsValidationReport
	Validate a configuration with respect to collision. More...
class	hpp::core::CollisionValidation
	Validate a configuration with respect to collision. More...
class	hpp::core::ConfigValidation
	Abstraction of configuration validation. More...
class	hpp::core::ConfigValidations
	Validate a configuration with respect to collision. More...
class	hpp::core::continuousValidation::Dichotomy
	Continuous validation of a path. More...
class	hpp::core::continuousValidation::Initializer
	Initializer for the Continuous Validation. More...
class	hpp::core::continuousValidation::Progressive
	Continuous validation of a path. More...
class	hpp::core::ContinuousValidation
	Continuous validation of a path. More...
class	hpp::core::JointBoundValidationReport
	report returned when a configuration is not within the bounds More...
class	hpp::core::JointBoundValidation
	Validate a configuration with respect to joint bounds. More...
class	hpp::core::pathValidation::Discretized
	Discretized validation of a path. More...
struct	hpp::core::PathValidationReport
	Abstraction of path validation report. More...
class	hpp::core::PathValidation
	Abstraction of path validation. More...
class	hpp::core::PathValidations
	Validation of a path with multiple path validation methods. More...
class	hpp::core::ValidationReport
	Abstraction of validation report for paths and configurations. More...

Functions
static DichotomyPtr_t	hpp::core::continuousValidation::Dichotomy::create (const DevicePtr_t &robot, const value_type &tolerance)
	Create instance and return shared pointer. More...
virtual	hpp::core::continuousValidation::Dichotomy::~Dichotomy ()
	hpp::core::continuousValidation::Dichotomy::Dichotomy (const DevicePtr_t &robot, const value_type &tolerance)
	Constructor. More...
void	hpp::core::continuousValidation::Dichotomy::init (const DichotomyWkPtr_t weak)
	Store weak pointer to itself. More...
static ProgressivePtr_t	hpp::core::continuousValidation::Progressive::create (const DevicePtr_t &robot, const value_type &tolerance)
	Create instance and return shared pointer. More...
virtual	hpp::core::continuousValidation::Progressive::~Progressive ()
	hpp::core::continuousValidation::Progressive::Progressive (const DevicePtr_t &robot, const value_type &tolerance)
	Constructor. More...
void	hpp::core::continuousValidation::Progressive::init (const ProgressiveWkPtr_t weak)
	Store weak pointer to itself. More...
DiscretizedPtr_t	hpp::core::pathValidation::createDiscretizedCollisionChecking (const DevicePtr_t &robot, const value_type &stepSize)
	Validation of path by collision checking at discretized parameter values. More...
DiscretizedPtr_t	hpp::core::pathValidation::createDiscretizedJointBound (const DevicePtr_t &robot, const value_type &stepSize)
	Validation of path by checking joint bounds at discretized parameter values. More...
std::ostream &	hpp::core::operator<< (std::ostream &os, const ValidationReport &report)

Detailed Description

Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization.

Validation of a configuration or of a path gives rise to a validation report that provide information if validation failed.

Function Documentation

create() [1/2]

static DichotomyPtr_t hpp::core::continuousValidation::Dichotomy::create ( const DevicePtr_t &  robot, const value_type &  tolerance  )

static

Create instance and return shared pointer.

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

create() [2/2]

static ProgressivePtr_t hpp::core::continuousValidation::Progressive::create ( const DevicePtr_t &  robot, const value_type &  tolerance  )

static

Create instance and return shared pointer.

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

createDiscretizedCollisionChecking()

DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedCollisionChecking	(	const DevicePtr_t &	robot,
		const value_type &	stepSize
	)

Validation of path by collision checking at discretized parameter values.

createDiscretizedJointBound()

DiscretizedPtr_t hpp::core::pathValidation::createDiscretizedJointBound	(	const DevicePtr_t &	robot,
		const value_type &	stepSize
	)

Validation of path by checking joint bounds at discretized parameter values.

Dichotomy()

hpp::core::continuousValidation::Dichotomy::Dichotomy ( const DevicePtr_t &  robot, const value_type &  tolerance  )

protected

Constructor.

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

init() [1/2]

void hpp::core::continuousValidation::Progressive::init ( const ProgressiveWkPtr_t  weak )

protected

Store weak pointer to itself.

init() [2/2]

void hpp::core::continuousValidation::Dichotomy::init ( const DichotomyWkPtr_t  weak )

protected

Store weak pointer to itself.

operator<<()

std::ostream& hpp::core::operator<< ( std::ostream &  os, const ValidationReport &  report  )

inline

References hpp::core::ValidationReport::print().

Progressive()

hpp::core::continuousValidation::Progressive::Progressive ( const DevicePtr_t &  robot, const value_type &  tolerance  )

protected

Constructor.

Parameters

robot	the robot for which continuous validation is performed,
tolerance	maximal penetration allowed.

~Dichotomy()

virtual hpp::core::continuousValidation::Dichotomy::~Dichotomy ( )

virtual

~Progressive()

virtual hpp::core::continuousValidation::Progressive::~Progressive ( )

virtual