hpp::manipulation::GraphPathValidation Class Reference

Path validation for a constraint graph. More...

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

Inheritance diagram for hpp::manipulation::GraphPathValidation:

Collaboration diagram for hpp::manipulation::GraphPathValidation:

List of all members.

Public Member Functions
bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart)
	Check that the path is valid regarding the constraint graph and call the encapsulated PathValidation::validate.
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &report)
	Call the GraphPathValidation::validate without validation report.
void	innerValidation (const PathValidationPtr_t &pathValidation)
	Set the encapsulated path validator.
const PathValidationPtr_t &	innerValidation ()
	Get the encapsulated path validator.
void	constraintGraph (const graph::GraphPtr_t &graph)
	Set the graph of constraints.
graph::GraphPtr_t	constraintGraph () const
	Get the graph of constraints.
void	addObstacle (const hpp::core::CollisionObjectPtr_t &)
virtual void	removeObstacleFromJoint (const JointPtr_t &joint, const model::CollisionObjectPtr_t &obstacle)
	Remove a collision pair between a joint and an obstacle.
Static Public Member Functions
static GraphPathValidationPtr_t	create (const PathValidationPtr_t &pathValidation)
	Create a new instance of this class.
template<typename T >
static GraphPathValidationPtr_t	create (const model::DevicePtr_t &robot, const value_type &stepSize)
Protected Member Functions
	GraphPathValidation (const PathValidationPtr_t &pathValidation)
	Constructor.

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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.

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Constructor & Destructor Documentation

hpp::manipulation::GraphPathValidation::GraphPathValidation

(

const PathValidationPtr_t &

pathValidation

)

[protected]

Constructor.

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Member Function Documentation

void hpp::manipulation::GraphPathValidation::addObstacle

(

const hpp::core::CollisionObjectPtr_t &

)

[virtual]

Reimplemented from hpp::core::PathValidation.

void hpp::manipulation::GraphPathValidation::constraintGraph

(

const graph::GraphPtr_t &

graph

)

[inline]

Set the graph of constraints.

graph::GraphPtr_t hpp::manipulation::GraphPathValidation::constraintGraph

(

)

const [inline]

Get the graph of constraints.

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

Referenced by create().

void hpp::manipulation::GraphPathValidation::innerValidation

(

const PathValidationPtr_t &

pathValidation

)

[inline]

Set the encapsulated path validator.

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

(

)

[inline]

Get the encapsulated path validator.

virtual void hpp::manipulation::GraphPathValidation::removeObstacleFromJoint	(	const JointPtr_t &	joint,
		const model::CollisionObjectPtr_t &	obstacle
	)		[inline, virtual]

Remove a collision pair between a joint and an obstacle.

Parameters:

joint	the joint that holds the inner objects,
obstacle	the obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles.

Reimplemented from hpp::core::PathValidation.

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

Check that the path is valid regarding the constraint graph and call the encapsulated PathValidation::validate.

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

Call the GraphPathValidation::validate without validation report.

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.