[ContinuousValidation] Implement copy of collision pairs.

include/hpp/core/continuous-validation/body-pair-collision.hh

@@ -92,6 +92,8 @@ namespace hpp {
 
         virtual std::ostream& print (std::ostream& os) const = 0;
 
+        virtual BodyPairCollisionPtr_t copy () const = 0;
+
       protected:
         /// Constructor of body pair collision
         ///
@@ -101,6 +103,11 @@ namespace hpp {
         {
         }
 
+        /// Copy constructor
+        BodyPairCollision (const BodyPairCollision& other):
+          IntervalValidation(other), m_(other.m_), maximalVelocity_(0)
+        {}
+
         virtual void setReport (CollisionValidationReportPtr_t& report,
                             fcl::CollisionResult result,
                             CollisionPair_t _pair) const

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

@@ -99,6 +99,12 @@ namespace hpp {
           }
         }
 
+        IntervalValidation (const IntervalValidation& other) :
+          tolerance_(other.tolerance_), refine_(true)
+        {
+          assert (tolerance_ > 0);
+        }
+
       private:
         virtual void setupPath() = 0;
       }; // class IntervalValidation

include/hpp/core/continuous-validation/solid-solid-collision.hh

@@ -110,6 +110,8 @@ namespace hpp {
           return (m_->joint_b ? m_->joint_b->index() : 0);
         }
 
+        BodyPairCollisionPtr_t copy () const;
+
       protected:
         /// Constructor of inter-body collision checking
         ///
@@ -130,6 +132,10 @@ namespace hpp {
               const ConstObjectStdVector_t& objects_b,
               value_type tolerance);
 
+        SolidSolidCollision (const SolidSolidCollision& other)
+          : BodyPairCollision (other), m_ (other.m_)
+        {}
+
       private:
         typedef pinocchio::JointIndex JointIndex;
         typedef std::vector<JointIndex> JointIndices_t;

src/continuous-validation/solid-solid-collision.cc

@@ -50,6 +50,11 @@ namespace hpp {
         return shPtr;
       }
 
+      BodyPairCollisionPtr_t SolidSolidCollision::copy () const
+      {
+        return BodyPairCollisionPtr_t(new SolidSolidCollision(*this));
+      }
+
       value_type SolidSolidCollision::computeMaximalVelocity(vector_t& Vb) const
       {
         value_type maximalVelocity = 0;