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

Inheritance diagram for hpp::core::continuousValidation::BodyPairCollision:

Collaboration diagram for hpp::core::continuousValidation::BodyPairCollision:

Public Types
typedef std::pair< CollisionObjectConstPtr_t, CollisionObjectConstPtr_t >	CollisionPair_t

typedef std::vector< CollisionPair_t >	CollisionPairs_t

Public Member Functions
bool	validateConfiguration (const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)

const CollisionPairs_t &	pairs () const

CollisionPairs_t &	pairs ()

value_type	maximalVelocity () const

virtual size_type	indexJointA () const
	Returns joint A index or -1 if no such joint exists. More...

virtual size_type	indexJointB () const
	Returns joint B index or -1 if no such joint exists. More...

virtual bool	removeObjectTo_b (const CollisionObjectConstPtr_t &)

virtual void	addCollisionPair (const CollisionObjectConstPtr_t &, const CollisionObjectConstPtr_t &)

virtual std::string	name () const =0

virtual std::ostream &	print (std::ostream &os) const =0

Security margin
value_type	securityMargin () const
	Get security margin. More...

void	securityMargin (const value_type &securityMargin)
	Set security margin. More...

Public Member Functions inherited from hpp::core::continuousValidation::IntervalValidation
void	path (const PathPtr_t &path, bool reverse)

PathConstPtr_t	path () const
	Get path. More...

value_type	tolerance () const

virtual IntervalValidationPtr_t	copy () const =0

Protected Member Functions
	BodyPairCollision (value_type tolerance)

	BodyPairCollision (const BodyPairCollision &other)
	Copy constructor. More...

virtual void	setReport (ValidationReportPtr_t &report, fcl::CollisionResult result, CollisionPair_t _pair) const

Protected Member Functions inherited from hpp::core::continuousValidation::IntervalValidation
	IntervalValidation (value_type tolerance)

	IntervalValidation (const IntervalValidation &other)

Additional Inherited Members
Protected Types inherited from hpp::core::continuousValidation::IntervalValidation
typedef boost::icl::continuous_interval< value_type >	continuous_interval

typedef boost::icl::interval_set< value_type >	interval_set

Protected Attributes inherited from hpp::core::continuousValidation::IntervalValidation
PathPtr_t	path_

value_type	tolerance_

bool	reverse_

bool	refine_

bool	valid_

interval_set	validInterval_

Detailed Description

Computation of collision-free sub-intervals of a path.

This class aims at validating a path for the absence of collision between two bodies of a robot, or between a robot body and the environment. Bodies are considered as rigid.

If the bodies are part of an open kinematic chain, the computations are performed by class SolidSolidCollision.

With this abstraction, other bodies (like legs of a parallel robot) can also be checked for collision. In this case, the specialized class needs to implement method computeMaximalVelocity , taking into account the constrained motion of the legs implied by the closure of the kinematic chain.

See this document for details.

Member Typedef Documentation

◆ CollisionPair_t

typedef std::pair<CollisionObjectConstPtr_t, CollisionObjectConstPtr_t> hpp::core::continuousValidation::BodyPairCollision::CollisionPair_t

◆ CollisionPairs_t

typedef std::vector<CollisionPair_t> hpp::core::continuousValidation::BodyPairCollision::CollisionPairs_t

Constructor & Destructor Documentation

◆ BodyPairCollision() [1/2]

hpp::core::continuousValidation::BodyPairCollision::BodyPairCollision ( value_type tolerance )

inlineprotected

Constructor of body pair collision

Parameters

tolerance allowed penetration should be positive

◆ BodyPairCollision() [2/2]

hpp::core::continuousValidation::BodyPairCollision::BodyPairCollision ( const BodyPairCollision & other )

inlineprotected

Copy constructor.

Member Function Documentation

◆ addCollisionPair()

virtual void hpp::core::continuousValidation::BodyPairCollision::addCollisionPair	(	const CollisionObjectConstPtr_t &	,
		const CollisionObjectConstPtr_t &
	)

inlinevirtual

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ indexJointA()

virtual size_type hpp::core::continuousValidation::BodyPairCollision::indexJointA ( ) const

inlinevirtual

Returns joint A index or -1 if no such joint exists.

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ indexJointB()

virtual size_type hpp::core::continuousValidation::BodyPairCollision::indexJointB ( ) const

inlinevirtual

Returns joint B index or -1 if no such joint exists.

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ maximalVelocity()

value_type hpp::core::continuousValidation::BodyPairCollision::maximalVelocity ( ) const

inline

◆ name()

virtual std::string hpp::core::continuousValidation::BodyPairCollision::name ( ) const

pure virtual

Implements hpp::core::continuousValidation::IntervalValidation.

Implemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ pairs() [1/2]

const CollisionPairs_t& hpp::core::continuousValidation::BodyPairCollision::pairs ( ) const

inline

◆ pairs() [2/2]

CollisionPairs_t& hpp::core::continuousValidation::BodyPairCollision::pairs ( )

inline

◆ print()

virtual std::ostream& hpp::core::continuousValidation::BodyPairCollision::print ( std::ostream & os ) const

pure virtual

Implements hpp::core::continuousValidation::IntervalValidation.

Implemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ removeObjectTo_b()

virtual bool hpp::core::continuousValidation::BodyPairCollision::removeObjectTo_b ( const CollisionObjectConstPtr_t & )

inlinevirtual

Reimplemented in hpp::core::continuousValidation::SolidSolidCollision.

◆ securityMargin() [1/2]

value_type hpp::core::continuousValidation::BodyPairCollision::securityMargin ( ) const

inline

Get security margin.

◆ securityMargin() [2/2]

void hpp::core::continuousValidation::BodyPairCollision::securityMargin ( const value_type & securityMargin )

inline

Set security margin.

◆ setReport()

virtual void hpp::core::continuousValidation::BodyPairCollision::setReport	(	ValidationReportPtr_t &	report,
		fcl::CollisionResult	result,
		CollisionPair_t	_pair
	)		const

inlineprotectedvirtual

◆ validateConfiguration()

bool hpp::core::continuousValidation::BodyPairCollision::validateConfiguration	(	const value_type &	t,
		interval_t &	interval,
		ValidationReportPtr_t &	report,
		const pinocchio::DeviceData &	data
	)

virtual

Validate interval centered on a path parameter

Parameters

	t	parameter value in the path interval of definition
[in,out]	interval	as input, interval over which collision checking must be performed. As output, interval over which pair is collision-free, not necessarily included in definition interval.
	report	the collision validation report

Returns: true if the body pair is collision free for this parameter value, false if the body pair is in collision.

Note: object should be in the positions defined by the configuration of parameter t on the path.

Implements hpp::core::continuousValidation::IntervalValidation.

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

include/hpp/core/continuous-validation/body-pair-collision.hh

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CollisionPair_t

◆ CollisionPairs_t

Constructor & Destructor Documentation

◆ BodyPairCollision() [1/2]

◆ BodyPairCollision() [2/2]

Member Function Documentation

◆ addCollisionPair()

◆ indexJointA()

◆ indexJointB()

◆ maximalVelocity()

◆ name()

◆ pairs() [1/2]

◆ pairs() [2/2]

◆ print()

◆ removeObjectTo_b()

◆ securityMargin() [1/2]

◆ securityMargin() [2/2]

◆ setReport()

◆ validateConfiguration()