hpp::core::ConfigValidations Class Reference

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

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

Inheritance diagram for hpp::core::ConfigValidations:

Collaboration diagram for hpp::core::ConfigValidations:

Public Member Functions
virtual bool	validate (const Configuration_t &config, ValidationReportPtr_t &validationReport)
	Compute whether the configuration is valid. More...
void	add (const ConfigValidationPtr_t &configValidation)
	Add a configuration validation object. More...
virtual void	addObstacle (const CollisionObjectConstPtr_t &object)
	Add an obstacle. 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...
size_type	numberConfigValidations () const
	Return the number of config validations. More...
void	clear ()
Public Member Functions inherited from hpp::core::ConfigValidation
virtual	~ConfigValidation ()

Static Public Member Functions
static ConfigValidationsPtr_t	create ()

Protected Member Functions
	ConfigValidations ()
Protected Member Functions inherited from hpp::core::ConfigValidation
	ConfigValidation ()

Detailed Description

Validate a configuration with respect to collision.

Constructor & Destructor Documentation

ConfigValidations()

hpp::core::ConfigValidations::ConfigValidations ( )

protected

Member Function Documentation

add()

void hpp::core::ConfigValidations::add

(

const ConfigValidationPtr_t &

configValidation

)

Add a configuration validation object.

addObstacle()

virtual void hpp::core::ConfigValidations::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.

clear()

void hpp::core::ConfigValidations::clear

(

)

create()

static ConfigValidationsPtr_t hpp::core::ConfigValidations::create ( )

static

filterCollisionPairs()

void hpp::core::ConfigValidations::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.

numberConfigValidations()

size_type hpp::core::ConfigValidations::numberConfigValidations

(

)

const

Return the number of config validations.

removeObstacleFromJoint()

virtual void hpp::core::ConfigValidations::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::ConfigValidations::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.