hpp-core  6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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_tvalues_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
qinput configuration,
Return values
reportvalidation 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
paththe path to check for validity,
reverseif true check from the end,
Return values
theextracted valid part of the path, pointer to path if path is valid.
reportinformation 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.


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