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

#include <hpp/core/continuous-validation/interval-validation.hh>

Public Member Functions
virtual bool	validateConfiguration (const value_type &t, interval_t &interval, ValidationReportTypePtr_t &report, pinocchio::DeviceData &data)=0

void	path (const PathPtr_t &path, bool reverse)
	Set path to validate. More...

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

value_type	tolerance () const

virtual std::string	name () const =0

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

Protected Types
typedef boost::icl::continuous_interval< value_type >	continuous_interval

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

Protected Member Functions
	IntervalValidation (value_type tolerance)
	Constructor of interval validation element. More...

	IntervalValidation (const IntervalValidation &other)

Protected Attributes
PathPtr_t	path_

value_type	tolerance_

bool	reverse_

bool	refine_

bool	valid_

interval_set	validInterval_

Detailed Description

template<typename ValidationReportTypePtr_t>
class hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >

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.

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.

Member Typedef Documentation

◆ continuous_interval

template<typename ValidationReportTypePtr_t>

typedef boost::icl::continuous_interval<value_type> hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::continuous_interval

protected

◆ interval_set

template<typename ValidationReportTypePtr_t>

typedef boost::icl::interval_set<value_type> hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::interval_set

protected

Constructor & Destructor Documentation

◆ IntervalValidation() [1/2]

template<typename ValidationReportTypePtr_t>

hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::IntervalValidation ( value_type tolerance )

inlineprotected

Constructor of interval validation element.

Parameters

tolerance allowed penetration should be positive

◆ IntervalValidation() [2/2]

template<typename ValidationReportTypePtr_t>

hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::IntervalValidation ( const IntervalValidation< ValidationReportTypePtr_t > & other )

inlineprotected

Member Function Documentation

◆ name()

template<typename ValidationReportTypePtr_t>

virtual std::string hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::name ( ) const

pure virtual

Implemented in hpp::core::continuousValidation::BodyPairCollision, and hpp::core::continuousValidation::SolidSolidCollision.

Referenced by hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >::tolerance().

◆ path() [1/2]

template<typename ValidationReportTypePtr_t>

void hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::path	(	const PathPtr_t &	path,
		bool	reverse
	)

inline

Set path to validate.

Parameters

path	path to validate,
reverse	whether path is validated from end to beginning.

◆ path() [2/2]

template<typename ValidationReportTypePtr_t>

PathConstPtr_t hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::path ( ) const

inline

Get path.

Referenced by hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >::path().

◆ print()

template<typename ValidationReportTypePtr_t>

virtual std::ostream& hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::print ( std::ostream & os ) const

pure virtual

Implemented in hpp::core::continuousValidation::BodyPairCollision, and hpp::core::continuousValidation::SolidSolidCollision.

Referenced by hpp::core::continuousValidation::IntervalValidation< CollisionValidationReportPtr_t >::tolerance().

◆ tolerance()

template<typename ValidationReportTypePtr_t>

value_type hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::tolerance ( ) const

inline

◆ validateConfiguration()

template<typename ValidationReportTypePtr_t>

virtual bool hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >::validateConfiguration	(	const value_type &	t,
		interval_t &	interval,
		ValidationReportTypePtr_t &	report,
		pinocchio::DeviceData &	data
	)