hpp::core::CollisionValidation Class Reference

Validate a configuration with respect to collision. More...

#include <hpp/core/collision-validation.hh>

Inheritance diagram for hpp::core::CollisionValidation:

Collaboration diagram for hpp::core::CollisionValidation:

Public Member Functions
virtual bool	validate (const Configuration_t &config, ValidationReportPtr_t &validationReport)
	Compute whether the configuration is valid. More...
virtual void	addObstacle (const CollisionObjectConstPtr_t &object)
	Add an obstacle. More...
virtual void	addObstacleToJoint (const CollisionObjectConstPtr_t &object, const JointPtr_t &joint, const bool includeChildren)
	Add an obstacle to a specific joint. More...
virtual void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)
	Remove a collision pair between a joint and an obstacle. More...
void	filterCollisionPairs (const RelativeMotion::matrix_type &matrix)
	Filter collision pairs. More...
void	checkParameterized (bool active)
void	computeAllContacts (bool computeAllContacts)
bool	checkParameterized () const
Public Member Functions inherited from hpp::core::ConfigValidation
virtual	~ConfigValidation ()

Static Public Member Functions
static CollisionValidationPtr_t	create (const DevicePtr_t &robot)

Public Attributes
fcl::CollisionRequest	collisionRequest_
	fcl low level request object used for collision checking. More...

Protected Member Functions
	CollisionValidation (const DevicePtr_t &robot)
Protected Member Functions inherited from hpp::core::ConfigValidation
	ConfigValidation ()

Protected Attributes
DevicePtr_t	robot_
CollisionPairs_t	collisionPairs_
CollisionPairs_t	parameterizedPairs_
CollisionPairs_t	disabledPairs_

Detailed Description

Validate a configuration with respect to collision.

Constructor & Destructor Documentation

CollisionValidation()

hpp::core::CollisionValidation::CollisionValidation ( const DevicePtr_t &  robot )

protected

Member Function Documentation

addObstacle()

virtual void hpp::core::CollisionValidation::addObstacle ( const CollisionObjectConstPtr_t &  object )

virtual

Add an obstacle.

Parameters

object

obstacle added Store obstacle and build a collision pair with each body of the robot.

Reimplemented from hpp::core::ConfigValidation.

addObstacleToJoint()

virtual void hpp::core::CollisionValidation::addObstacleToJoint ( const CollisionObjectConstPtr_t &  object, const JointPtr_t &  joint, const bool  includeChildren  )

virtual

Add an obstacle to a specific joint.

Parameters

object	obstacle added
joint	concerned with obstacle addition
includeChildren	whether to add obstacle to joint children Store obstacle and build a collision pair with each body of the robot.

checkParameterized() [1/2]

void hpp::core::CollisionValidation::checkParameterized ( bool  active )

inline

checkParameterized() [2/2]

bool hpp::core::CollisionValidation::checkParameterized ( ) const

inline

computeAllContacts()

void hpp::core::CollisionValidation::computeAllContacts ( bool  computeAllContacts )

inline

create()

static CollisionValidationPtr_t hpp::core::CollisionValidation::create ( const DevicePtr_t &  robot )

static

filterCollisionPairs()

void hpp::core::CollisionValidation::filterCollisionPairs ( const RelativeMotion::matrix_type &  )

virtual

Filter collision pairs.

Remove pairs of object that cannot be in collision when these constraints are statisfied. This effectively disables collision detection between objects that have no possible relative motion due to the constraints.

Todo:

Before disabling collision pair, check if there is a collision.

Parameters

square

symmetric matrix of RelativeMotionType of size numberDof x numberDof

Reimplemented from hpp::core::ConfigValidation.

removeObstacleFromJoint()

virtual void hpp::core::CollisionValidation::removeObstacleFromJoint ( const JointPtr_t &  joint, const CollisionObjectConstPtr_t &  obstacle  )

virtual

Remove a collision pair between a joint and an obstacle.

Parameters

the	joint that holds the inner objects,
the	obstacle to remove.

Note

collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles.

Reimplemented from hpp::core::ConfigValidation.

validate()

virtual bool hpp::core::CollisionValidation::validate ( const Configuration_t &  config, ValidationReportPtr_t &  validationReport  )

virtual

Compute whether the configuration is valid.

Parameters

config

the config to check for validity,

Return values

validationReport

report on validation. If non valid, a validation report will be allocated and returned via this shared pointer.

Returns

whether the whole config is valid.

Implements hpp::core::ConfigValidation.

Member Data Documentation

collisionPairs_

CollisionPairs_t hpp::core::CollisionValidation::collisionPairs_

protected

collisionRequest_

fcl::CollisionRequest hpp::core::CollisionValidation::collisionRequest_

fcl low level request object used for collision checking.

modify this attribute to obtain more detailed validation reports in a call to validate.

disabledPairs_

CollisionPairs_t hpp::core::CollisionValidation::disabledPairs_

protected

parameterizedPairs_

CollisionPairs_t hpp::core::CollisionValidation::parameterizedPairs_

protected

robot_

DevicePtr_t hpp::core::CollisionValidation::robot_

protected