hpp::core::continuousValidation::IntervalValidation Class Reference

#include <hpp/core/continuous-validation/interval-validation.hh>

Inheritance diagram for hpp::core::continuousValidation::IntervalValidation:

Public Member Functions
virtual bool	validateConfiguration (const value_type &t, interval_t &interval, ValidationReportPtr_t &report, const pinocchio::DeviceData &data)=0
void	path (const PathPtr_t &path, bool reverse)
PathConstPtr_t	path () const
	Get path. More...
value_type	tolerance () const
virtual std::string	name () const =0
virtual std::ostream &	print (std::ostream &os) const =0
virtual IntervalValidationPtr_t	copy () const =0

Protected Types
typedef boost::icl::continuous_interval< value_type >	continuous_interval
typedef boost::icl::interval_set< value_type >	interval_set

Protected Member Functions
	IntervalValidation (value_type tolerance)
	IntervalValidation (const IntervalValidation &other)

Protected Attributes
PathPtr_t	path_
value_type	tolerance_
bool	reverse_
bool	refine_
bool	valid_
interval_set	validInterval_

Detailed Description

Validation of a parameter interval of a path

During path planning, some criteria need to be checked to be valid over the whole interval of definition of a path. The most common criterion is the absence of collision (implemented by derived class BodyPairCollision), but some other criteria might need to be checked. For instance the tension of the cables of a parallel cable driven robot need to remain in an interval.

This class provides a common interface for continuous validation through method validateConfiguration .

A tolerance may be provided at construction. An interval will be considered as valid if the criterion is violated by less than the tolerance. This parameter interpretation is left to the specialization designers.

Member Typedef Documentation

continuous_interval

typedef boost::icl::continuous_interval<value_type> hpp::core::continuousValidation::IntervalValidation::continuous_interval

protected

interval_set

typedef boost::icl::interval_set<value_type> hpp::core::continuousValidation::IntervalValidation::interval_set

protected

Constructor & Destructor Documentation

IntervalValidation() [1/2]

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

inlineprotected

Constructor of interval validation element

Parameters

tolerance

allowed penetration should be positive

IntervalValidation() [2/2]

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

inlineprotected

Member Function Documentation

copy()

virtual IntervalValidationPtr_t hpp::core::continuousValidation::IntervalValidation::copy ( ) const

pure virtual

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

name()

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

pure virtual

Implemented in hpp::core::continuousValidation::BodyPairCollision, and hpp::core::continuousValidation::SolidSolidCollision.

path() [1/2]

void hpp::core::continuousValidation::IntervalValidation::path ( const PathPtr_t &  path, bool  reverse  )

inline

Set path to validate

Parameters

path	path to validate,
reverse	whether path is validated from end to beginning.

path() [2/2]

PathConstPtr_t hpp::core::continuousValidation::IntervalValidation::path ( ) const

inline

Get path.

print()

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

pure virtual

Implemented in hpp::core::continuousValidation::BodyPairCollision, and hpp::core::continuousValidation::SolidSolidCollision.

tolerance()

value_type hpp::core::continuousValidation::IntervalValidation::tolerance ( ) const

inline

validateConfiguration()

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

pure virtual

Validate an interval for a given criterion

Parameters

t	center of the interval to validate
interval	over which the criterion should be checked,

Return values

interval	part of the input interval that is valid,
report	report in case of non validity of the configuration at parameter t

Parameters

data	data resulting from forward kinematics computed at parameter t.

Implemented in hpp::core::continuousValidation::BodyPairCollision.

Member Data Documentation

path_

PathPtr_t hpp::core::continuousValidation::IntervalValidation::path_

protected

refine_

bool hpp::core::continuousValidation::IntervalValidation::refine_

protected

reverse_

bool hpp::core::continuousValidation::IntervalValidation::reverse_

protected

tolerance_

value_type hpp::core::continuousValidation::IntervalValidation::tolerance_

protected

valid_

bool hpp::core::continuousValidation::IntervalValidation::valid_

protected

validInterval_

interval_set hpp::core::continuousValidation::IntervalValidation::validInterval_

protected

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

• include/hpp/core/continuous-validation/interval-validation.hh