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:

Public Member Functions
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)
	Check that path is valid regarding the constraint graph. More...
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::CollisionObjectPtr_t &)
virtual void	removeObstacleFromJoint (const JointPtr_t &joint, const pinocchio::CollisionObjectPtr_t &obstacle)
	Remove a collision pair between a joint and an obstacle. More...
Public Member Functions inherited from hpp::core::PathValidation
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)=0
virtual void	addObstacle (const CollisionObjectConstPtr_t &)
virtual void	removeObstacleFromJoint (const JointPtr_t &, const CollisionObjectConstPtr_t &)
virtual void	filterCollisionPairs (const RelativeMotion::matrix_type &)
virtual	~PathValidation ()

Static Public Member Functions
static GraphPathValidationPtr_t	create (const PathValidationPtr_t &pathValidation)
	Create a new instance of this class. More...
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...
Protected Member Functions inherited from hpp::core::PathValidation
	PathValidation ()

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

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

protected

Constructor.

Member Function Documentation

void hpp::manipulation::GraphPathValidation::addObstacle

(

const hpp::core::CollisionObjectPtr_t &

)

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.

References 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

Referenced by create(), and removeObstacleFromJoint().

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 pinocchio::CollisionObjectPtr_t &  obstacle  )

inlinevirtual

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.

References create().

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. Call the encapsulated PathValidation::validate.