hpp::core::PathValidation Class Reference

Abstraction of path validation. More...

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

Inheritance diagram for hpp::core::PathValidation:

Public Member Functions
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)=0
	Compute the largest valid interval starting from the path beginning. More...
virtual void	addObstacle (const CollisionObjectConstPtr_t &)
	Add an obstacle. More...
virtual void	removeObstacleFromJoint (const JointPtr_t &, const CollisionObjectConstPtr_t &)
	Remove a collision pair between a joint and an obstacle. More...
virtual void	filterCollisionPairs (const RelativeMotion::matrix_type &)
virtual	~PathValidation ()

Protected Member Functions
	PathValidation ()

Detailed Description

Abstraction of path validation.

Instances of this class compute the latest valid configuration along a path.

Constructor & Destructor Documentation

~PathValidation()

virtual hpp::core::PathValidation::~PathValidation ( )

inlinevirtual

PathValidation()

hpp::core::PathValidation::PathValidation ( )

inlineprotected

Member Function Documentation

addObstacle()

virtual void hpp::core::PathValidation::addObstacle ( const CollisionObjectConstPtr_t &  )

inlinevirtual

Add an obstacle.

Parameters

object

obstacle added

Note

collision path validation need to know about obstacles. This virtual method does nothing for path validation methods that do not care about obstacles.

Reimplemented in hpp::core::ContinuousValidation, hpp::core::pathValidation::Discretized, and hpp::core::PathValidations.

filterCollisionPairs()

virtual void hpp::core::PathValidation::filterCollisionPairs ( const RelativeMotion::matrix_type &  )

inlinevirtual

Reimplemented in hpp::core::ContinuousValidation, hpp::core::pathValidation::Discretized, and hpp::core::PathValidations.

removeObstacleFromJoint()

virtual void hpp::core::PathValidation::removeObstacleFromJoint ( const JointPtr_t &  , const CollisionObjectConstPtr_t &    )

inlinevirtual

Remove a collision pair between a joint and an obstacle.

Parameters

the	joint that holds the inner objects,
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 in hpp::core::ContinuousValidation, hpp::core::pathValidation::Discretized, and hpp::core::PathValidations.

validate()

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

pure 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.

Implemented in hpp::core::ContinuousValidation, hpp::core::pathValidation::Discretized, and hpp::core::PathValidations.