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[path-validation] Create NoValidation without a ProblemSolver #194

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Merged
psardin001 merged 1 commit into from
Oct 22, 2026
Merged

[path-validation] Create NoValidation without a ProblemSolver #194

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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).

## [Unreleased]

- [path-validation] Create NoValidation without a ProblemSolver

## [9.1.0] - 2026-10-13

- [README] Rewrite
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1 change: 0 additions & 1 deletion include/pyhpp/core/path-validation.hh
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Expand Up @@ -31,7 +31,6 @@
#define PYHPP_CORE_PATH_VALIDATION_HH

#include <hpp/core/path-validation.hh>
#include <hpp/core/problem-solver.hh>
#include <pyhpp/core/fwd.hh>

namespace pyhpp {
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11 changes: 3 additions & 8 deletions src/pyhpp/core/path-validation.cc
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Expand Up @@ -36,7 +36,7 @@
#include <hpp/core/path-validation/discretized-collision-checking.hh>
#include <hpp/core/path-validation/discretized-joint-bound.hh>
#include <hpp/core/path-validation/discretized.hh>
#include <hpp/core/problem-solver.hh>
#include <hpp/core/path-validation/no-validation.hh>
#include <pyhpp/core/path-validation.hh>
#include <pyhpp/util.hh>
// DocNamespace(hpp::core)
Expand All @@ -56,12 +56,6 @@ hpp::core::PathValidationPtr_t createDiscretizedJointBoundAndCollisionChecking(
hpp::core::CollisionValidation::create(robot)});
}

const hpp::core::PathValidationBuilder_t& noValidationFactory() {
static const hpp::core::PathValidationBuilder_t factory =
hpp::core::ProblemSolver::create()->pathValidations.get("NoValidation");
return factory;
}

struct PVWrapper {
static bool validate(PathValidation* pv, const hpp::core::PathPtr_t path,
bool reverse, hpp::core::PathPtr_t& validPart,
Expand Down Expand Up @@ -89,7 +83,8 @@ namespace pathValidation {
struct NoValidation : PathValidation {
NoValidation(const hpp::core::DevicePtr_t& robot,
const hpp::core::value_type& tolerance)
: PathValidation(robot, noValidationFactory(), tolerance) {}
: PathValidation(robot, hpp::core::pathValidation::NoValidation::create,
tolerance) {}
};

struct Discretized : PathValidation {
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