hpp::core::pathValidation::Discretized Class Reference

Discretized validation of a path. More...

#include <hpp/core/path-validation/discretized.hh>

Inheritance diagram for hpp::core::pathValidation::Discretized:

Collaboration diagram for hpp::core::pathValidation::Discretized:

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	add (const ConfigValidationPtr_t &configValidation)
	Add a configuration validation object. More...
virtual void	addObstacle (const CollisionObjectConstPtr_t &)
	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...
virtual void	filterCollisionPairs (const RelativeMotion::matrix_type &matrix)
virtual	~Discretized ()
Public Member Functions inherited from hpp::core::PathValidation
virtual	~PathValidation ()

Static Public Member Functions
static DiscretizedPtr_t	create (const value_type &stepSize)

Protected Member Functions
	Discretized (const value_type &stepSize)
Protected Member Functions inherited from hpp::core::PathValidation
	PathValidation ()

Protected Attributes
value_type	stepSize_

Detailed Description

Discretized validation of a path.

Apply some configuration validation algorithms at discretized values of the path parameter.

Constructor & Destructor Documentation

~Discretized()

virtual hpp::core::pathValidation::Discretized::~Discretized ( )

inlinevirtual

Discretized()

hpp::core::pathValidation::Discretized::Discretized ( const value_type &  stepSize )

protected

Member Function Documentation

add()

virtual void hpp::core::pathValidation::Discretized::add ( const ConfigValidationPtr_t &  configValidation )

virtual

Add a configuration validation object.

addObstacle()

virtual void hpp::core::pathValidation::Discretized::addObstacle ( const CollisionObjectConstPtr_t &  )

virtual

Add an obstacle.

Parameters

object

obstacle added

Reimplemented from hpp::core::PathValidation.

create()

static DiscretizedPtr_t hpp::core::pathValidation::Discretized::create ( const value_type &  stepSize )

static

filterCollisionPairs()

virtual void hpp::core::pathValidation::Discretized::filterCollisionPairs ( const RelativeMotion::matrix_type &  matrix )

virtual

Reimplemented from hpp::core::PathValidation.

removeObstacleFromJoint()

virtual void hpp::core::pathValidation::Discretized::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.

validate()

virtual bool hpp::core::pathValidation::Discretized::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

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

whether the whole path is valid.

Implements hpp::core::PathValidation.

Member Data Documentation

stepSize_

value_type hpp::core::pathValidation::Discretized::stepSize_

protected