hpp::core::ContinuousValidation Class Reference

Continuous validation of a path. More...

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

Inheritance diagram for hpp::core::ContinuousValidation:

Collaboration diagram for hpp::core::ContinuousValidation:

Public Member Functions
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)
	Compute the largest valid interval starting from the path beginning. 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 &relMotion)
void	changeInitializer (continuousValidation::InitializerPtr_t initializer)
	Change the initializer The continuous validation is then reset and the new initializer is called to do the new initialization. More...
value_type	tolerance () const
	Get tolerance value. More...
virtual	~ContinuousValidation ()
Public Member Functions inherited from hpp::core::PathValidation
virtual	~PathValidation ()

Protected Types
typedef continuousValidation::BodyPairCollisions_t	BodyPairCollisions_t

Protected Member Functions
	ContinuousValidation (const DevicePtr_t &robot, const value_type &tolerance)
	Constructor. More...
virtual bool	validateConfiguration (BodyPairCollisions_t &bodyPairCollisions, const Configuration_t &config, const value_type &t, interval_t &interval, PathValidationReportPtr_t &report)
	Validate interval centered on a path parameter. More...
void	init (ContinuousValidationWkPtr_t weak)
	Store weak pointer to itself. More...
Protected Member Functions inherited from hpp::core::PathValidation
	PathValidation ()

Static Protected Member Functions
static void	setPath (BodyPairCollisions_t &bodyPairCollisions, const PathPtr_t &path, bool reverse)

Protected Attributes
DevicePtr_t	robot_
value_type	tolerance_
BodyPairCollisions_t	bodyPairCollisions_
BodyPairCollisions_t	disabledBodyPairCollisions_
pinocchio::Pool< BodyPairCollisions_t >	bodyPairCollisionPool_
value_type	stepSize_
continuousValidation::InitializerPtr_t	initializer_

Detailed Description

Continuous validation of a path.

This class tests for collision

• straight paths, or
• concatenation of straight paths (PathVector).

A path is valid if and only if each interval validation element is valid along the whole interval of definition

Interval validation elements can be pairs of objects to test for collision (BodyPairCollision) or an other type of validation.

Collision pairs between bodies of the robot are initialized at construction of the instance through the Initializer.

Method addObstacle adds an obstacle in the environment. For each joint, a new pair is created with the new obstacle.

Validation of a collision pair along straight interpolations is based on the computation of an upper-bound of the relative velocity of objects of one joint (or of the environment) in the reference frame of the other joint. This is implemented in BodyPairCollision and SolidSolidCollision.

See this document for details on the continuous collision checking.

See this document for details on the architecture of the code.

Member Typedef Documentation

BodyPairCollisions_t

typedef continuousValidation::BodyPairCollisions_t hpp::core::ContinuousValidation::BodyPairCollisions_t

protected

Constructor & Destructor Documentation

~ContinuousValidation()

virtual hpp::core::ContinuousValidation::~ContinuousValidation ( )

virtual

ContinuousValidation()

hpp::core::ContinuousValidation::ContinuousValidation ( const DevicePtr_t &  robot, const value_type &  tolerance  )

protected

Constructor.

Parameters

robot	the robot for which validation is performed,
tolerance	maximal penetration allowed.

Member Function Documentation

addObstacle()

virtual void hpp::core::ContinuousValidation::addObstacle ( const CollisionObjectConstPtr_t &  object )

virtual

Add an obstacle.

Parameters

object

obstacle added Add the object to each collision pair a body of which is the environment. care about obstacles.

Reimplemented from hpp::core::PathValidation.

changeInitializer()

void hpp::core::ContinuousValidation::changeInitializer

(

continuousValidation::InitializerPtr_t

initializer

)

Change the initializer The continuous validation is then reset and the new initializer is called to do the new initialization.

filterCollisionPairs()

void hpp::core::ContinuousValidation::filterCollisionPairs ( const RelativeMotion::matrix_type &  relMotion )

virtual

Reimplemented from hpp::core::PathValidation.

init()

void hpp::core::ContinuousValidation::init ( ContinuousValidationWkPtr_t  weak )

protected

Store weak pointer to itself.

removeObstacleFromJoint()

virtual void hpp::core::ContinuousValidation::removeObstacleFromJoint ( const JointPtr_t &  joint, const CollisionObjectConstPtr_t &  obstacle  )

virtual

Remove a collision pair between a joint and an obstacle.

Parameters

joint	the joint that holds the inner objects,
obstacle	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::PathValidation.

setPath()

static void hpp::core::ContinuousValidation::setPath ( BodyPairCollisions_t &  bodyPairCollisions, const PathPtr_t &  path, bool  reverse  )

staticprotected

tolerance()

value_type hpp::core::ContinuousValidation::tolerance ( ) const

inline

Get tolerance value.

validate()

virtual bool hpp::core::ContinuousValidation::validate ( const PathPtr_t &  path, bool  reverse, PathPtr_t &  validPart, PathValidationReportPtr_t &  report  )

virtual

Compute the largest valid interval starting from the path beginning.

Parameters

path	the path to check for validity,
reverse	if true check from the end,

Return values

validPart	the extracted valid part of the path, pointer to path if path is valid.
report	information about the validation process. A report is allocated if the path is not valid.

Returns

true if the whole path is valid.

Implements hpp::core::PathValidation.

validateConfiguration()

virtual bool hpp::core::ContinuousValidation::validateConfiguration ( BodyPairCollisions_t &  bodyPairCollisions, const Configuration_t &  config, const value_type &  t, interval_t &  interval, PathValidationReportPtr_t &  report  )

protectedvirtual

Validate interval centered on a path parameter.

Parameters

bodyPairCollisions	collision to consider
config	Configuration at abscissa t on the path.
t	parameter value in the path interval of definition

Return values

interval

interval over which the path is collision-free, not necessarily included in definition interval

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.

Member Data Documentation

bodyPairCollisionPool_

pinocchio::Pool<BodyPairCollisions_t> hpp::core::ContinuousValidation::bodyPairCollisionPool_

protected

bodyPairCollisions_

BodyPairCollisions_t hpp::core::ContinuousValidation::bodyPairCollisions_

protected

disabledBodyPairCollisions_

BodyPairCollisions_t hpp::core::ContinuousValidation::disabledBodyPairCollisions_

protected

initializer_

continuousValidation::InitializerPtr_t hpp::core::ContinuousValidation::initializer_

protected

robot_

DevicePtr_t hpp::core::ContinuousValidation::robot_

protected

stepSize_

value_type hpp::core::ContinuousValidation::stepSize_

protected

tolerance_

value_type hpp::core::ContinuousValidation::tolerance_

protected