From dfb4329e2c8122e82ef1cce71142f4fbcc40f852 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 10 Dec 2014 13:48:53 +0100
Subject: [PATCH] Update to commit 07c3141 in hpp-core
Add validation report classes for config and path validations.
---
include/hpp/manipulation/fwd.hh | 1 +
include/hpp/manipulation/graph-path-validation.hh | 13 +++++++++++++
src/graph-path-validation.cc | 8 ++++++++
3 files changed, 22 insertions(+)
diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index 2921eb6..9cae85c 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -91,6 +91,7 @@ namespace hpp {
typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
typedef core::ConfigurationShooter ConfigurationShooter;
typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
+ typedef core::ValidationReport ValidationReport;
typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;
typedef boost::shared_ptr <Grasp_t> GraspPtr_t;
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index 402c007..15d9295 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -49,6 +49,19 @@ namespace hpp {
/// the encapsulated PathValidation::validate.
bool validate (const PathPtr_t& path, bool reverse, PathPtr_t& validPart);
+ /// Call the GraphPathValidation::validate without validation report.
+ ///
+ /// \param path the path to check for validity,
+ /// \param reverse if true check from the end,
+ /// \retval the extracted valid part of the path, pointer to path if
+ /// path is valid,
+ /// \retval report information about the validation process. unused in
+ /// this case,
+ /// \return whether the whole path is valid.
+ virtual bool validate (const PathPtr_t& path, bool reverse,
+ PathPtr_t& validPart,
+ ValidationReport& report);
+
/// Set the encapsulated path validator.
void innerValidation (const PathValidationPtr_t& pathValidation)
{
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index e550786..6bb3b4b 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -35,6 +35,14 @@ namespace hpp {
return impl_validate (path, reverse, validPart);
}
+ bool GraphPathValidation::validate
+ (const PathPtr_t& path, bool reverse, PathPtr_t& validPart,
+ ValidationReport&)
+ {
+ assert (path);
+ return impl_validate (path, reverse, validPart);
+ }
+
bool GraphPathValidation::impl_validate (
const PathVectorPtr_t& path, bool reverse, PathPtr_t& validPart)
{
--
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