hpp::core::CollisionValidation Class Reference

#include <hpp/core/collision-validation.hh>

Inheritance diagram for hpp::core::CollisionValidation:

Collaboration diagram for hpp::core::CollisionValidation:

Public Member Functions
virtual bool	validate (const Configuration_t &config, ValidationReportPtr_t &validationReport)
void	checkParameterized (bool active)
void	computeAllContacts (bool computeAllContacts)
bool	checkParameterized () const
Public Member Functions inherited from hpp::core::ConfigValidation
virtual	~ConfigValidation ()
Public Member Functions inherited from hpp::core::ObstacleUser
virtual	~ObstacleUser ()
const CollisionPairs_t &	pairs () const
CollisionPairs_t &	pairs ()
const CollisionRequests_t &	requests () const
CollisionRequests_t &	requests ()
fcl::CollisionRequest &	defaultRequest ()
void	setRequests (const fcl::CollisionRequest &r)
virtual void	addObstacle (const CollisionObjectConstPtr_t &object)
virtual void	addObstacleToJoint (const CollisionObjectConstPtr_t &object, const JointPtr_t &joint, const bool includeChildren)
virtual void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object)
virtual void	filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)
virtual void	setSecurityMargins (const matrix_t &securityMatrix)
Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual	~ObstacleUserInterface ()

Static Public Member Functions
static CollisionValidationPtr_t	create (const DevicePtr_t &robot)
Static Public Member Functions inherited from hpp::core::ObstacleUser
static bool	collide (const CollisionPairs_t &pairs, const CollisionRequests_t &reqs, fcl::CollisionResult &res, std::size_t &i, pinocchio::DeviceData &data)

Protected Member Functions
	CollisionValidation (const DevicePtr_t &robot)
Protected Member Functions inherited from hpp::core::ConfigValidation
	ConfigValidation ()
Protected Member Functions inherited from hpp::core::ObstacleUser
	ObstacleUser (DevicePtr_t robot)
	Constructor of body pair collision. More...
	ObstacleUser (const ObstacleUser &other)
	Copy constructor. More...
void	addRobotCollisionPairs ()

Protected Attributes
DevicePtr_t	robot_
Protected Attributes inherited from hpp::core::ObstacleUser
DevicePtr_t	robot_
fcl::CollisionRequest	defaultRequest_
CollisionPairs_t	cPairs_
CollisionPairs_t	pPairs_
	Active collision pairs. More...
CollisionPairs_t	dPairs_
	Parameterized collision pairs. More...
CollisionRequests_t	cRequests_
	Disabled collision pairs. More...
CollisionRequests_t	pRequests_
	Active collision requests. More...
CollisionRequests_t	dRequests_
	Parameterized collision requests. More...

Additional Inherited Members
Public Types inherited from hpp::core::ObstacleUser
typedef std::pair< CollisionObjectConstPtr_t, CollisionObjectConstPtr_t >	CollisionPair_t
typedef std::vector< CollisionPair_t >	CollisionPairs_t
typedef std::vector< fcl::CollisionRequest >	CollisionRequests_t

Detailed Description

Validate a configuration with respect to collision

Constructor & Destructor Documentation

CollisionValidation()

hpp::core::CollisionValidation::CollisionValidation ( const DevicePtr_t &  robot )

protected

Member Function Documentation

checkParameterized() [1/2]

void hpp::core::CollisionValidation::checkParameterized ( bool  active )

inline

checkParameterized() [2/2]

bool hpp::core::CollisionValidation::checkParameterized ( ) const

inline

computeAllContacts()

void hpp::core::CollisionValidation::computeAllContacts ( bool  computeAllContacts )

inline

create()

static CollisionValidationPtr_t hpp::core::CollisionValidation::create ( const DevicePtr_t &  robot )

static

validate()

virtual bool hpp::core::CollisionValidation::validate ( const Configuration_t &  config, ValidationReportPtr_t &  validationReport  )

virtual

Compute whether the configuration is valid

Parameters

config

the config to check for validity,

Return values

validationReport

report on validation. If non valid, a validation report will be allocated and returned via this shared pointer.

Returns

whether the whole config is valid.

Implements hpp::core::ConfigValidation.

Member Data Documentation

robot_

DevicePtr_t hpp::core::CollisionValidation::robot_

protected

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

• include/hpp/core/collision-validation.hh