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

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

Inheritance diagram for hpp::core::continuousValidation::SolidSolidCollision:

Collaboration diagram for hpp::core::continuousValidation::SolidSolidCollision:

Public Member Functions
value_type	computeMaximalVelocity (vector_t &Vb) const
	Compute maximal velocity for a given velocity bound. More...

bool	removeObjectTo_b (const CollisionObjectConstPtr_t &object)

std::string	name () const

std::ostream &	print (std::ostream &os) const

void	addCollisionPair (const CollisionObjectConstPtr_t &left, const CollisionObjectConstPtr_t &right)

const CoefficientVelocities_t &	coefficients () const

const JointPtr_t &	joint_a () const
	Get joint a. More...

const JointPtr_t &	joint_b () const
	Get joint b. More...

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

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

BodyPairCollisionPtr_t	copy () const

Public Member Functions inherited from hpp::core::continuousValidation::BodyPairCollision
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

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

Static Public Member Functions
static SolidSolidCollisionPtr_t	create (const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance)
	Create instance and return shared pointer. More...

static SolidSolidCollisionPtr_t	create (const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance)
	Create instance and return shared pointer. More...

Protected Member Functions
	SolidSolidCollision (const JointPtr_t &joint_a, const JointPtr_t &joint_b, value_type tolerance)
	Constructor of inter-body collision checking. More...

	SolidSolidCollision (const JointPtr_t &joint_a, const ConstObjectStdVector_t &objects_b, value_type tolerance)
	Constructor of collision checking with the environment. More...

	SolidSolidCollision (const SolidSolidCollision &other)

Protected Member Functions inherited from hpp::core::continuousValidation::BodyPairCollision
	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
Public Types inherited from hpp::core::continuousValidation::BodyPairCollision
typedef std::pair< CollisionObjectConstPtr_t, CollisionObjectConstPtr_t >	CollisionPair_t

typedef std::vector< CollisionPair_t >	CollisionPairs_t

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 solid 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.

See this document for details.

Constructor & Destructor Documentation

◆ SolidSolidCollision() [1/3]

hpp::core::continuousValidation::SolidSolidCollision::SolidSolidCollision	(	const JointPtr_t &	joint_a,
		const JointPtr_t &	joint_b,
		value_type	tolerance
	)

protected

Constructor of inter-body collision checking.

Parameters

joint_a,joint_b	joint of the bodies to test for collision
tolerance	allowed penetration should be positive

Precondition: joint_a and joint_b should not be nul pointers.

◆ SolidSolidCollision() [2/3]

hpp::core::continuousValidation::SolidSolidCollision::SolidSolidCollision	(	const JointPtr_t &	joint_a,
		const ConstObjectStdVector_t &	objects_b,
		value_type	tolerance
	)

protected

Constructor of collision checking with the environment.

Parameters

joint_a	joint of the body to test for collision with the environment
objects_b	environment objects for the collision checking
tolerance	allowed penetration should be positive

Precondition: objects_b should not be attached to a joint

◆ SolidSolidCollision() [3/3]

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

inlineprotected

Member Function Documentation

◆ addCollisionPair()

void hpp::core::continuousValidation::SolidSolidCollision::addCollisionPair	(	const CollisionObjectConstPtr_t &	left,
		const CollisionObjectConstPtr_t &	right
	)

virtual

Note: The left object should belong to joint_a and the right one should belong to joint_b, or vice-versa. This is not checked.

Reimplemented from hpp::core::continuousValidation::BodyPairCollision.

◆ coefficients()

const CoefficientVelocities_t& hpp::core::continuousValidation::SolidSolidCollision::coefficients ( ) const

inline

◆ computeMaximalVelocity()

value_type hpp::core::continuousValidation::SolidSolidCollision::computeMaximalVelocity ( vector_t & Vb ) const

virtual

Compute maximal velocity for a given velocity bound.

Parameters

Vb velocity

Implements hpp::core::continuousValidation::BodyPairCollision.

◆ copy()

BodyPairCollisionPtr_t hpp::core::continuousValidation::SolidSolidCollision::copy ( ) const

virtual

Implements hpp::core::continuousValidation::BodyPairCollision.

◆ create() [1/2]

static SolidSolidCollisionPtr_t hpp::core::continuousValidation::SolidSolidCollision::create	(	const JointPtr_t &	joint_a,
		const ConstObjectStdVector_t &	objects_b,
		value_type	tolerance
	)

static

Create instance and return shared pointer.

Parameters

joint_a	joint of the body to test for collision with the environment
objects_b	environment objects for the collision checking
tolerance	allowed penetration should be positive

Precondition: objects_b should not be attached to a joint

◆ create() [2/2]

static SolidSolidCollisionPtr_t hpp::core::continuousValidation::SolidSolidCollision::create	(	const JointPtr_t &	joint_a,
		const JointPtr_t &	joint_b,
		value_type	tolerance
	)

static

Create instance and return shared pointer.

Parameters

joint_a,joint_b	joint of the bodies to test for collision
tolerance	allowed penetrationd be positive

◆ indexJointA()

size_type hpp::core::continuousValidation::SolidSolidCollision::indexJointA ( ) const

inlinevirtual

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

Reimplemented from hpp::core::continuousValidation::BodyPairCollision.

◆ indexJointB()

size_type hpp::core::continuousValidation::SolidSolidCollision::indexJointB ( ) const

inlinevirtual

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

Reimplemented from hpp::core::continuousValidation::BodyPairCollision.

◆ joint_a()

const JointPtr_t& hpp::core::continuousValidation::SolidSolidCollision::joint_a ( ) const

inline

Get joint a.

◆ joint_b()

const JointPtr_t& hpp::core::continuousValidation::SolidSolidCollision::joint_b ( ) const

inline

Get joint b.

◆ name()

std::string hpp::core::continuousValidation::SolidSolidCollision::name ( ) const

virtual

Implements hpp::core::continuousValidation::BodyPairCollision.

◆ print()

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

virtual

Implements hpp::core::continuousValidation::BodyPairCollision.

◆ removeObjectTo_b()

bool hpp::core::continuousValidation::SolidSolidCollision::removeObjectTo_b ( const CollisionObjectConstPtr_t & object )

virtual

Reimplemented from hpp::core::continuousValidation::BodyPairCollision.

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SolidSolidCollision() [1/3]

◆ SolidSolidCollision() [2/3]

◆ SolidSolidCollision() [3/3]

Member Function Documentation

◆ addCollisionPair()

◆ coefficients()

◆ computeMaximalVelocity()

◆ copy()

◆ create() [1/2]

◆ create() [2/2]

◆ indexJointA()

◆ indexJointB()

◆ joint_a()

◆ joint_b()

◆ name()

◆ print()

◆ removeObjectTo_b()