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

Inheritance diagram for hpp::core::PathValidation:

[legend]

Public Member Functions
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)=0

virtual bool	validate (ConfigurationIn_t q, ValidationReportPtr_t &report)

virtual	~PathValidation ()

Protected Member Functions
	PathValidation ()

Detailed Description

Abstraction of path validation

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

Method

validate(ConfigurationIn_t q)

hpp::core::PathValidation::validate

virtual bool validate(const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)=0

hpp::core::ConfigurationIn_t

pinocchio::ConfigurationIn_t ConfigurationIn_t

Definition: fwd.hh:108

is provided to validate single configurations. It is particularly useful to test the initial and goal configurations of a path planning problem using this path validation.

Constructor & Destructor Documentation

◆ ~PathValidation()

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

inlinevirtual

◆ PathValidation()

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

inlineprotected

Member Function Documentation

◆ validate() [1/2]

virtual bool hpp::core::PathValidation::validate	(	ConfigurationIn_t	q,
		ValidationReportPtr_t &	report
	)

virtual

Validate a single configuration

Parameters

q	input configuration,

Return values

report validation report. The default implementation builds a straight path of length 0 with the input configuration and validates the path.

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

◆ validate() [2/2]

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

The documentation for this class was generated from the following file:

include/hpp/core/path-validation.hh

Public Member Functions