hpp::core::PathValidations Class Reference

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

Inheritance diagram for hpp::core::PathValidations:

Collaboration diagram for hpp::core::PathValidations:

Public Member Functions
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)
virtual bool	validate (ConfigurationIn_t q, ValidationReportPtr_t &report)
virtual void	addPathValidation (const PathValidationPtr_t &pathValidation)
	Add a path validation object. More...
virtual	~PathValidations ()
Public Member Functions inherited from hpp::core::PathValidation
virtual	~PathValidation ()
Public Member Functions inherited from hpp::core::ObstacleUserVector< PathValidationPtr_t >
virtual	~ObstacleUserVector ()=default
void	addObstacle (const CollisionObjectConstPtr_t &object)
void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object)
void	filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)
void	setSecurityMargins (const matrix_t &securityMatrix)
void	setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)
void	clear ()
Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual	~ObstacleUserInterface ()=default

Static Public Member Functions
static PathValidationsPtr_t	create ()

Protected Member Functions
	PathValidations ()
Protected Member Functions inherited from hpp::core::PathValidation
	PathValidation ()
Protected Member Functions inherited from hpp::core::ObstacleUserVector< PathValidationPtr_t >
	ObstacleUserVector ()=default
	ObstacleUserVector (std::initializer_list< value_t > validations)

Additional Inherited Members
Protected Types inherited from hpp::core::ObstacleUserVector< PathValidationPtr_t >
typedef PathValidationPtr_t	value_t
typedef std::vector< value_t >	values_t
Protected Attributes inherited from hpp::core::ObstacleUserVector< PathValidationPtr_t >
values_t	validations_

Detailed Description

Validation of a path with multiple path validation methods

Apply several path validation methods to the path parameter

Constructor & Destructor Documentation

~PathValidations()

virtual hpp::core::PathValidations::~PathValidations ( )

inlinevirtual

PathValidations()

hpp::core::PathValidations::PathValidations ( )

protected

Member Function Documentation

addPathValidation()

virtual void hpp::core::PathValidations::addPathValidation ( const PathValidationPtr_t &  pathValidation )

virtual

Add a path validation object.

create()

static PathValidationsPtr_t hpp::core::PathValidations::create ( )

static

validate() [1/2]

virtual bool hpp::core::PathValidations::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 from hpp::core::PathValidation.

validate() [2/2]

virtual bool hpp::core::PathValidations::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.

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

• include/hpp/core/path-validations.hh