Inheritance diagram for hpp::core::continuousValidation::Dichotomy:

Collaboration diagram for hpp::core::continuousValidation::Dichotomy:

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Public Member Functions
virtual	~Dichotomy ()

Public Member Functions inherited from hpp::core::ContinuousValidation
virtual bool	validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, PathValidationReportPtr_t &report)

virtual void	addObstacle (const CollisionObjectConstPtr_t &object)

virtual void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &obstacle)

void	filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)

virtual void	setSecurityMargins (const matrix_t &securityMatrix)

void	addIntervalValidation (const IntervalValidationPtr_t &intervalValidation)

value_type	tolerance () const
	Get tolerance value. More...

DevicePtr_t	robot () const

void	initialize ()

virtual	~ContinuousValidation ()

template<class Delegate >
void	add (const Delegate &delegate)

template<class Delegate >
void	reset ()

Public Member Functions inherited from hpp::core::PathValidation
virtual	~PathValidation ()

Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual	~ObstacleUserInterface ()

Static Public Member Functions
static DichotomyPtr_t	create (const DevicePtr_t &robot, const value_type &tolerance)

Protected Member Functions
	Dichotomy (const DevicePtr_t &robot, const value_type &tolerance)

void	init (const DichotomyWkPtr_t weak)
	Store weak pointer to itself. More...

Protected Member Functions inherited from hpp::core::ContinuousValidation
	ContinuousValidation (const DevicePtr_t &robot, const value_type &tolerance)

virtual bool	validateConfiguration (IntervalValidations_t &intervalValidations, const Configuration_t &config, const value_type &t, interval_t &interval, PathValidationReportPtr_t &report)

bool	validateIntervals (IntervalValidations_t &validations, const value_type &t, interval_t &interval, PathValidationReportPtr_t &pathReport, typename IntervalValidations_t::iterator &smallestInterval, pinocchio::DeviceData &data)

void	init (ContinuousValidationWkPtr_t weak)
	Store weak pointer to itself. More...

Protected Member Functions inherited from hpp::core::PathValidation
	PathValidation ()

Additional Inherited Members
Protected Types inherited from hpp::core::ContinuousValidation
typedef continuousValidation::IntervalValidations_t	IntervalValidations_t

Static Protected Member Functions inherited from hpp::core::ContinuousValidation
static void	setPath (IntervalValidations_t &intervalValidations, const PathPtr_t &path, bool reverse)

Protected Attributes inherited from hpp::core::ContinuousValidation
DevicePtr_t	robot_

value_type	tolerance_

IntervalValidations_t	intervalValidations_
	All BodyPairValidation to validate. More...

IntervalValidations_t	disabledBodyPairCollisions_
	BodyPairCollision for which collision is disabled. More...

pinocchio::Pool< IntervalValidations_t >	bodyPairCollisionPool_

value_type	stepSize_

Detailed Description

Continuous validation of a path

This class is a specialization of ContinuousValidation.

The interval validation is performed by

validating the beginning of the interval (or the end if paramater reverse is set to true when calling ContinuousValidation::validate),
validate intervals centered at the middle of the biggest non tested interval. See this document for details.

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

Public Member Functions