Computation of collision-free sub-intervals of a path. More...

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

Inheritance diagram for hpp::core::continuousValidation::BodyPairCollision:

Collaboration diagram for hpp::core::continuousValidation::BodyPairCollision:

Public Types
typedef std::pair< CollisionObjectConstPtr_t, CollisionObjectConstPtr_t >	CollisionPair_t

typedef std::vector< CollisionPair_t >	CollisionPairs_t

Public Member Functions
bool	validateConfiguration (const value_type &t, interval_t &interval, CollisionValidationReportPtr_t &report, pinocchio::DeviceData &data)
	Validate interval centered on a path parameter. More...

const CollisionPairs_t &	pairs () const

CollisionPairs_t &	pairs ()

value_type	maximalVelocity () const

virtual size_type	indexJointA () const
	Returns joint A index or -1 if no such joint exists. More...

virtual size_type	indexJointB () const
	Returns joint B index or -1 if no such joint exists. More...

virtual bool	removeObjectTo_b (const CollisionObjectConstPtr_t &)

virtual void	addCollisionPair (const CollisionObjectConstPtr_t &, const CollisionObjectConstPtr_t &)

virtual std::string	name () const =0

virtual std::ostream &	print (std::ostream &os) const =0

virtual BodyPairCollisionPtr_t	copy () const =0

Public Member Functions inherited from hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >
void	path (const PathPtr_t &path, bool reverse)
	Set path to validate. More...

PathConstPtr_t	path () const
	Get path. More...

value_type	tolerance () const

Protected Member Functions
	BodyPairCollision (value_type tolerance)
	Constructor of body pair collision. More...

	BodyPairCollision (const BodyPairCollision &other)
	Copy constructor. More...

virtual void	setReport (CollisionValidationReportPtr_t &report, fcl::CollisionResult result, CollisionPair_t _pair) const

Protected Member Functions inherited from hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >
	IntervalValidation (value_type tolerance)
	Constructor of interval validation element. More...

	IntervalValidation (const IntervalValidation &other)

Additional Inherited Members
Protected Types inherited from hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >
typedef boost::icl::continuous_interval< value_type >	continuous_interval

typedef boost::icl::interval_set< value_type >	interval_set

Protected Attributes inherited from hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >
PathPtr_t	path_

value_type	tolerance_

bool	reverse_

bool	refine_

bool	valid_

interval_set	validInterval_

Detailed Description

Computation of collision-free sub-intervals of a path.

This class aims at validating a path for the absence of collision between two bodies of a robot, which are in most common cases two solid bodies (see SolidSolidCollision). With this abstraction, other bodies (like cables) can also be checked for collision.

The interval of definition of the path is successively covered by intervals where boths bodies are proved to be collision-free. Each interval is computed by bounding from above the velocity of all points of body 1 in the reference frame of body 2.

See this document for details.

Member Typedef Documentation

◆ CollisionPair_t

typedef std::pair<CollisionObjectConstPtr_t, CollisionObjectConstPtr_t> hpp::core::continuousValidation::BodyPairCollision::CollisionPair_t

◆ CollisionPairs_t

typedef std::vector<CollisionPair_t> hpp::core::continuousValidation::BodyPairCollision::CollisionPairs_t

Constructor & Destructor Documentation

◆ BodyPairCollision() [1/2]

hpp::core::continuousValidation::BodyPairCollision::BodyPairCollision ( value_type tolerance )

inlineprotected

Constructor of body pair collision.

Parameters

tolerance allowed penetration should be positive

◆ BodyPairCollision() [2/2]

hpp::core::continuousValidation::BodyPairCollision::BodyPairCollision ( const BodyPairCollision & other )

inlineprotected

Copy constructor.

Member Function Documentation

◆ addCollisionPair()

virtual void hpp::core::continuousValidation::BodyPairCollision::addCollisionPair	(	const CollisionObjectConstPtr_t &	,
		const CollisionObjectConstPtr_t &
	)

inlinevirtual

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

References copy(), name(), and print().

◆ copy()

virtual BodyPairCollisionPtr_t hpp::core::continuousValidation::BodyPairCollision::copy ( ) const

pure virtual

Implemented in hpp::core::continuousValidation::SolidSolidCollision.

Referenced by addCollisionPair().

◆ indexJointA()

virtual size_type hpp::core::continuousValidation::BodyPairCollision::indexJointA ( ) const

inlinevirtual

Returns joint A index or -1 if no such joint exists.

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ indexJointB()

virtual size_type hpp::core::continuousValidation::BodyPairCollision::indexJointB ( ) const

inlinevirtual

Returns joint B index or -1 if no such joint exists.

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ maximalVelocity()

value_type hpp::core::continuousValidation::BodyPairCollision::maximalVelocity ( ) const

inline

◆ name()

virtual std::string hpp::core::continuousValidation::BodyPairCollision::name ( ) const

pure virtual

Implements hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >.

Implemented in hpp::core::continuousValidation::SolidSolidCollision.

Referenced by addCollisionPair().

◆ pairs() [1/2]

const CollisionPairs_t& hpp::core::continuousValidation::BodyPairCollision::pairs ( ) const

inline

Referenced by setReport().

◆ pairs() [2/2]

CollisionPairs_t& hpp::core::continuousValidation::BodyPairCollision::pairs ( )

inline

◆ print()

virtual std::ostream& hpp::core::continuousValidation::BodyPairCollision::print ( std::ostream & os ) const

pure virtual

Implements hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >.

Implemented in hpp::core::continuousValidation::SolidSolidCollision.

Referenced by addCollisionPair(), and hpp::core::continuousValidation::operator<<().

◆ removeObjectTo_b()

virtual bool hpp::core::continuousValidation::BodyPairCollision::removeObjectTo_b ( const CollisionObjectConstPtr_t & )

inlinevirtual

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ setReport()

virtual void hpp::core::continuousValidation::BodyPairCollision::setReport	(	CollisionValidationReportPtr_t &	report,
		fcl::CollisionResult	result,
		CollisionPair_t	_pair
	)		const

inlineprotectedvirtual

References pairs().

◆ validateConfiguration()

bool hpp::core::continuousValidation::BodyPairCollision::validateConfiguration	(	const value_type &	t,
		interval_t &	interval,
		CollisionValidationReportPtr_t &	report,
		pinocchio::DeviceData &	data
	)

virtual

Validate interval centered on a path parameter.

Parameters

	t	parameter value in the path interval of definition
[in,out]	interval	as input, interval over which collision checking must be performed. As output, interval over which pair is collision-free, not necessarily included in definition interval.
	report	the collision validation report

Returns: true if the body pair is collision free for this parameter value, false if the body pair is in collision.

Note: object should be in the positions defined by the configuration of parameter t on the path.

Implements hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >.

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CollisionPair_t

◆ CollisionPairs_t

Constructor & Destructor Documentation

◆ BodyPairCollision() [1/2]

◆ BodyPairCollision() [2/2]

Member Function Documentation

◆ addCollisionPair()

◆ copy()

◆ indexJointA()

◆ indexJointB()

◆ maximalVelocity()

◆ name()

◆ pairs() [1/2]

◆ pairs() [2/2]

◆ print()

◆ removeObjectTo_b()

◆ setReport()

◆ validateConfiguration()