hpp::core::ObstacleUserVector< Derived > Class Template Reference

#include <hpp/core/obstacle-user.hh>

Inheritance diagram for hpp::core::ObstacleUserVector< Derived >:

Collaboration diagram for hpp::core::ObstacleUserVector< Derived >:

Public Member Functions
virtual	~ObstacleUserVector ()=default
void	addObstacle (const CollisionObjectConstPtr_t &object)
void	removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectConstPtr_t &object)
void	filterCollisionPairs (const RelativeMotion::matrix_type &relMotion)
void	setSecurityMargins (const matrix_t &securityMatrix)
void	setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)
void	clear ()
Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual	~ObstacleUserInterface ()=default

Protected Types
typedef Derived	value_t
typedef std::vector< value_t >	values_t

Protected Member Functions
	ObstacleUserVector ()=default
	ObstacleUserVector (std::initializer_list< value_t > validations)

Protected Attributes
values_t	validations_

Detailed Description

template<typename Derived>
class hpp::core::ObstacleUserVector< Derived >

Vector of validation class instances.

Template Parameters

Derived

must be a shared point to some validation class. For instance ConfigValidationPtr_t or PathValidationPtr_t .

This class implements the abstract interface defined by ObstacleUserInterface and stores a vector of path or config validation class instances. Methods addObstacle , removeObstacleFromJoint, and filterCollisionPairs iteratively dynamic cast each instance into Obstacle user interface and calls the derived implementation in case of success.

Member Typedef Documentation

value_t

template<typename Derived>

typedef Derived hpp::core::ObstacleUserVector< Derived >::value_t

protected

values_t

template<typename Derived>

typedef std::vector<value_t> hpp::core::ObstacleUserVector< Derived >::values_t

protected

Constructor & Destructor Documentation

~ObstacleUserVector()

template<typename Derived>

virtual hpp::core::ObstacleUserVector< Derived >::~ObstacleUserVector ( )

virtualdefault

ObstacleUserVector() [1/2]

template<typename Derived>

hpp::core::ObstacleUserVector< Derived >::ObstacleUserVector ( )

protecteddefault

ObstacleUserVector() [2/2]

template<typename Derived>

hpp::core::ObstacleUserVector< Derived >::ObstacleUserVector ( std::initializer_list< value_t > validations )

inlineprotected

Member Function Documentation

addObstacle()

template<typename Derived>

void hpp::core::ObstacleUserVector< Derived >::addObstacle ( const CollisionObjectConstPtr_t & object )

inlinevirtual

Add obstacle to each element

Dynamic cast into ObstacleUserInterface each element of validations_ and call method addObstacle of element.

Implements hpp::core::ObstacleUserInterface.

clear()

template<typename Derived>

void hpp::core::ObstacleUserVector< Derived >::clear ( )

inline

filterCollisionPairs()

template<typename Derived>

void hpp::core::ObstacleUserVector< Derived >::filterCollisionPairs ( const RelativeMotion::matrix_type & relMotion )

inlinevirtual

Filter collision pairs to each element

Dynamic cast into ObstacleUserInterface each element of validations_ and call method filterCollisionPairs of element.

Implements hpp::core::ObstacleUserInterface.

removeObstacleFromJoint()

template<typename Derived>

void hpp::core::ObstacleUserVector< Derived >::removeObstacleFromJoint ( const JointPtr_t & joint, const CollisionObjectConstPtr_t & object )

inlinevirtual

Remove obstacle from joint to each element

Dynamic cast into ObstacleUserInterface each element of validations_ and call method removeObstacleFromJoint of element.

Implements hpp::core::ObstacleUserInterface.

setSecurityMarginBetweenBodies()

template<typename Derived>

void hpp::core::ObstacleUserVector< Derived >::setSecurityMarginBetweenBodies ( const std::string & body_a, const std::string & body_b, const value_type & margin )

inlinevirtual

Set security margin for collision pair between the two bodies.

See also

coal::CollisionRequest::security_margin.

Implements hpp::core::ObstacleUserInterface.

setSecurityMargins()

template<typename Derived>

void hpp::core::ObstacleUserVector< Derived >::setSecurityMargins ( const matrix_t & securityMatrix )

inlinevirtual

Set different security margins for collision pairs

This function works joint-wise. If you need a finer control, use setSecurityMarginBetweenBodies

This method enables users to choose different security margins for each pair of robot joint or each pair robot joint - obstacle.

See also

coal::CollisionRequest::security_margin.

Implements hpp::core::ObstacleUserInterface.

Member Data Documentation

validations_

template<typename Derived>

values_t hpp::core::ObstacleUserVector< Derived >::validations_

protected

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

• include/hpp/core/obstacle-user.hh