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

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

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)
virtual void	setSecurityMarginBetweenBodies (const std::string &body_a, const std::string &body_b, const value_type &margin)
void	addIntervalValidation (const IntervalValidationPtr_t &intervalValidation)
value_type	tolerance () const
	Get tolerance value.
value_type	breakDistance () const
void	breakDistance (value_type distance)
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 bool	validate (ConfigurationIn_t q, ValidationReportPtr_t &report)
virtual	~PathValidation ()
Public Member Functions inherited from hpp::core::ObstacleUserInterface
virtual	~ObstacleUserInterface ()=default

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.
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.
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_
value_type	breakDistance_
IntervalValidations_t	intervalValidations_
	All BodyPairValidation to validate.
IntervalValidations_t	disabledBodyPairCollisions_
	BodyPairCollision for which collision is disabled.
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