hpp::core::ConfigValidation Class Reference

Abstraction of configuration validation. More...

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

Inheritance diagram for hpp::core::ConfigValidation:

Public Member Functions
virtual bool	validate (const Configuration_t &config, ValidationReportPtr_t &validationReport)=0
	Compute whether the configuration is valid. More...
virtual void	addObstacle (const CollisionObjectConstPtr_t &)
	Add an obstacle. More...
virtual void	removeObstacleFromJoint (const JointPtr_t &, const CollisionObjectConstPtr_t &)
	Remove a collision pair between a joint and an obstacle. More...
virtual void	filterCollisionPairs (const RelativeMotion::matrix_type &)
	Filter collision pairs. More...
virtual	~ConfigValidation ()

Protected Member Functions
	ConfigValidation ()

Detailed Description

Abstraction of configuration validation.

Instances of this class validate configurations with respect to some criteria

Constructor & Destructor Documentation

~ConfigValidation()

virtual hpp::core::ConfigValidation::~ConfigValidation ( )

inlinevirtual

ConfigValidation()

hpp::core::ConfigValidation::ConfigValidation ( )

inlineprotected

Member Function Documentation

addObstacle()

virtual void hpp::core::ConfigValidation::addObstacle ( const CollisionObjectConstPtr_t &  )

inlinevirtual

Add an obstacle.

Parameters

object

obstacle added

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 in hpp::core::CollisionValidation, and hpp::core::ConfigValidations.

filterCollisionPairs()

virtual void hpp::core::ConfigValidation::filterCollisionPairs ( const RelativeMotion::matrix_type &  )

inlinevirtual

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 in hpp::core::CollisionValidation, and hpp::core::ConfigValidations.

removeObstacleFromJoint()

virtual void hpp::core::ConfigValidation::removeObstacleFromJoint ( const JointPtr_t &  , const CollisionObjectConstPtr_t &    )

inlinevirtual

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 in hpp::core::CollisionValidation, and hpp::core::ConfigValidations.

validate()

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

pure 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.

Implemented in hpp::core::JointBoundValidation, hpp::core::CollisionValidation, and hpp::core::ConfigValidations.