[ProblemSolver] Allow to disable path validations

  - Add "NoValidation" as a key for PathValidations selection.

src/CMakeLists.txt

@@ -49,6 +49,7 @@ path-validations.cc
 path-validation/discretized.cc
 path-validation/discretized-collision-checking.cc
 path-validation/discretized-joint-bound.cc
+path-validation/no-validation.hh
   nearest-neighbor/basic.hh #
   nearest-neighbor/basic.cc #
   # nearest-neighbor/k-d-tree.cc #

src/path-validation/no-validation.hh

+//
+// Copyright (c) 2019 CNRS
+// Authors: Florent Lamiraux
+//
+// This file is part of hpp-core
+// hpp-core is free software: you can redistribute it
+// and/or modify it under the terms of the GNU Lesser General Public
+// License as published by the Free Software Foundation, either version
+// 3 of the License, or (at your option) any later version.
+//
+// hpp-core is distributed in the hope that it will be
+// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+// General Lesser Public License for more details.  You should have
+// received a copy of the GNU Lesser General Public License along with
+// hpp-core  If not, see
+// <http://www.gnu.org/licenses/>.
+
+#include <hpp/pinocchio/device.hh>
+#include <hpp/core/collision-path-validation-report.hh>
+#include <hpp/core/collision-validation.hh>
+#include <hpp/core/config-validations.hh>
+#include <hpp/core/path.hh>
+#include <hpp/core/path-validation/discretized.hh>
+#include <hpp/util/debug.hh>
+
+namespace hpp {
+  namespace core {
+    namespace pathValidation {
+      HPP_PREDEF_CLASS (NoValidation);
+      typedef boost::shared_ptr <NoValidation> NoValidationPtr_t;
+      class NoValidation : public PathValidation
+      {
+      public:
+        // Validate all paths
+        virtual bool validate (const PathPtr_t& path, bool,
+                               PathPtr_t& validPart,
+                               PathValidationReportPtr_t&)
+        {
+          validPart = path;
+          return true;
+        }
+        static NoValidationPtr_t create (const DevicePtr_t&,
+                                         const value_type&)
+        {
+          NoValidation* ptr = new NoValidation ();
+          NoValidationPtr_t shPtr (ptr);
+          return shPtr;
+        }
+      protected:
+        NoValidation () {}
+      }; // class NoValidation
+    } // namespace pathValidation
+  } // namespace core
+} // namespace hpp

src/problem-solver.cc

@@ -76,6 +76,8 @@
 #include <hpp/core/joint-bound-validation.hh>
 #include <hpp/core/kinodynamic-distance.hh>
 
+#include "../src/path-validation/no-validation.hh"
+
 namespace hpp {
   namespace core {
     using boost::bind;
@@ -238,6 +240,8 @@ namespace hpp {
       pathOptimizers.add ("SimpleTimeParameterization", pathOptimization::SimpleTimeParameterization::create);
 
       // Store path validation methods in map.
+      pathValidations.add ("NoValidation",
+                           pathValidation::NoValidation::create);
       pathValidations.add ("Discretized", pathValidation::createDiscretizedCollisionChecking);
       pathValidations.add ("DiscretizedCollision", pathValidation::createDiscretizedCollisionChecking);
       pathValidations.add ("DiscretizedJointBound", pathValidation::createDiscretizedJointBound);