FCLContinuousMotionValidator.h
41 FCLContinuousMotionValidator(const ob::SpaceInformationPtr &si, MotionModel mm) : ob::MotionValidator(si)
67 bool checkMotion(const ob::State *s1, const ob::State *s2, std::pair<ob::State*, double> &lastValid) const override
130 fcl_2d_state_checker = dynamic_cast <const app::FCLStateValidityChecker<app::Motion_2D>* > (si_->getStateValidityChecker ().get ());
144 fcl_3d_state_checker = dynamic_cast <const app::FCLStateValidityChecker<app::Motion_3D>* > (si_->getStateValidityChecker ().get ());
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:82
Wrapper for FCL collision and distance checking.
Definition: FCLStateValidityChecker.h:83
FCLContinuousMotionValidator(ob::SpaceInformation *si, MotionModel mm)
Constructor.
Definition: FCLContinuousMotionValidator.h:35
FCLContinuousMotionValidator(const ob::SpaceInformationPtr &si, MotionModel mm)
Constructor.
Definition: FCLContinuousMotionValidator.h:41
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
MotionModel
Specify whether bodies are moving in 2D or bodies moving in 3D.
Definition: GeometrySpecification.h:28
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: ConstrainedSpaceInformation.h:55
bool checkMotion(const ob::State *s1, const ob::State *s2) const override
Returns true if motion between s1 and s2 is collision free.
Definition: FCLContinuousMotionValidator.h:50
virtual void interpolate(const State *from, const State *to, double t, State *state) const =0
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state....
ob::StateSpace * stateSpace_
Handle to the statespace that this motion validator operates in.
Definition: FCLContinuousMotionValidator.h:173
void defaultSettings(MotionModel mm)
Restore settings to default values.
Definition: FCLContinuousMotionValidator.h:119
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:251
A motion validator that utilizes FCL's continuous collision checking.
Definition: FCLContinuousMotionValidator.h:31
bool checkMotion(const ob::State *s1, const ob::State *s2, std::pair< ob::State *, double > &lastValid) const override
Checks the motion between s1 and s2. If the motion is invalid, lastValid contains the last valid stat...
Definition: FCLContinuousMotionValidator.h:67
Abstract definition for a class checking the validity of motions – path segments between states....
Definition: MotionValidator.h:65
const StateValidityCheckerPtr & getStateValidityChecker() const
Return the instance of the used state validity checker.
Definition: SpaceInformation.h:160
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: MotionValidator.h:133
FCLMethodWrapperPtr fclWrapper_
Wrapper for FCL collision and distance methods.
Definition: FCLContinuousMotionValidator.h:170
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
Definition: SpaceInformation.h:100
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:94
~FCLContinuousMotionValidator() override=default
Destructor.