DiscreteMotionValidator.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
38 #define OMPL_BASE_DISCRETE_MOTION_VALIDATOR_
39 
40 #include "ompl/base/MotionValidator.h"
41 #include "ompl/base/SpaceInformation.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
50  {
51  public:
54  {
55  defaultSettings();
56  }
57 
60  {
61  defaultSettings();
62  }
63 
64  ~DiscreteMotionValidator() override = default;
65 
66  bool checkMotion(const State *s1, const State *s2) const override;
67 
68  bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const override;
69 
70  private:
71  StateSpace *stateSpace_;
72 
73  void defaultSettings();
74  };
75  }
76 }
77 
78 #endif
DiscreteMotionValidator(const SpaceInformationPtr &si)
Constructor.
A motion validator that only uses the state validity checker. Motions are checked for validity at a s...
Abstract definition for a class checking the validity of motions – path segments between states...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
Definition of an abstract state.
Definition: State.h:49
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid...
DiscreteMotionValidator(SpaceInformation *si)
Constructor.