hpp::manipulation::GraphPathValidation Class Reference

#include <hpp/manipulation/graph-path-validation.hh>

Inheritance diagram for hpp::manipulation::GraphPathValidation:

Collaboration diagram for hpp::manipulation::GraphPathValidation:

Public Member Functions
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)
void	innerValidation (const PathValidationPtr_t &pathValidation)
	Set the encapsulated path validator. More...
const PathValidationPtr_t &	innerValidation ()
	Get the encapsulated path validator. More...
void	constraintGraph (const graph::GraphPtr_t &graph)
	Set the graph of constraints. More...
graph::GraphPtr_t	constraintGraph () const
	Get the graph of constraints. More...
void	addObstacle (const hpp::core::CollisionObjectConstPtr_t &object)
void	removeObstacleFromJoint (const JointPtr_t &joint, const pinocchio::CollisionObjectConstPtr_t &obstacle)
void	filterCollisionPairs (const core::RelativeMotion::matrix_type &relMotion)
	Filter collision pairs. More...
void	setSecurityMargins (const matrix_t &securityMargins)
void	setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)

Static Public Member Functions
static GraphPathValidationPtr_t	create (const PathValidationPtr_t &pathValidation)
template<typename T >
static GraphPathValidationPtr_t	create (const pinocchio::DevicePtr_t &robot, const value_type &stepSize)

Protected Member Functions
	GraphPathValidation (const PathValidationPtr_t &pathValidation)
	Constructor. More...

Detailed Description

Path validation for a constraint graph

This class encapsulates another path validation class. The encapsulated path validation is responsible for collision checking, whereas this class checks if a path is valid regarding the constraint graph.

Constructor & Destructor Documentation

GraphPathValidation()

hpp::manipulation::GraphPathValidation::GraphPathValidation ( const PathValidationPtr_t &  pathValidation )

protected

Constructor.

Member Function Documentation

addObstacle()

void hpp::manipulation::GraphPathValidation::addObstacle ( const hpp::core::CollisionObjectConstPtr_t &  object )

inline

Add obstacle in the environment

Dynamic cast inner path validation into hpp::core::ObstacleUserInterface and calls hpp::core::ObstacleUserInterface::addObstacle in case of success.

constraintGraph() [1/2]

graph::GraphPtr_t hpp::manipulation::GraphPathValidation::constraintGraph ( ) const

inline

Get the graph of constraints.

constraintGraph() [2/2]

void hpp::manipulation::GraphPathValidation::constraintGraph ( const graph::GraphPtr_t &  graph )

inline

Set the graph of constraints.

create()

static GraphPathValidationPtr_t hpp::manipulation::GraphPathValidation::create ( const PathValidationPtr_t &  pathValidation )

static

Create a new instance of this class.

Parameters

pathValidation

a PathValidation that is responsible for collision

filterCollisionPairs()

void hpp::manipulation::GraphPathValidation::filterCollisionPairs ( const core::RelativeMotion::matrix_type &  relMotion )

inline

Filter collision pairs.

Dynamic cast inner path validation into hpp::core::ObstacleUserInterface and calls hpp::core::ObstacleUserInterface::filterCollisionPairs in case of success.

innerValidation() [1/2]

const PathValidationPtr_t& hpp::manipulation::GraphPathValidation::innerValidation ( )

inline

Get the encapsulated path validator.

innerValidation() [2/2]

void hpp::manipulation::GraphPathValidation::innerValidation ( const PathValidationPtr_t &  pathValidation )

inline

Set the encapsulated path validator.

removeObstacleFromJoint()

void hpp::manipulation::GraphPathValidation::removeObstacleFromJoint ( const JointPtr_t &  joint, const pinocchio::CollisionObjectConstPtr_t &  obstacle  )

inline

Remove a collision pair between a joint and an obstacle

Dynamic cast inner path validation into hpp::core::ObstacleUserInterface and calls hpp::core::ObstacleUserInterface::removeObstacleFromJoint in case of success.

setSecurityMarginBetweenBodies()

void hpp::manipulation::GraphPathValidation::setSecurityMarginBetweenBodies ( const std::string &  body_a, const std::string &  body_b, const value_type &  margin  )

inline

Dynamic cast inner path validation into hpp::core::ObstacleUserInterface and calls hpp::core::ObstacleUserInterface::setSecurityMargins in case of success.

setSecurityMargins()

void hpp::manipulation::GraphPathValidation::setSecurityMargins ( const matrix_t &  securityMargins )

inline

Set different security margins for collision pairs

Dynamic cast inner path validation into hpp::core::ObstacleUserInterface and calls hpp::core::ObstacleUserInterface::setSecurityMargins in case of success.

validate()

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

virtual

Check that path is valid regarding the constraint graph.

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. unused in this case,

Returns

whether the whole path is valid.

\notice Call the encapsulated PathValidation::validate.

---

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

• include/hpp/manipulation/graph-path-validation.hh