FCLStateValidityChecker.h
Wrapper for FCL collision and distance checking.
Definition: FCLStateValidityChecker.h:83
double clearance(const ob::State *state) const override
Returns the minimum distance from the given robot state and the environment.
Definition: FCLStateValidityChecker.h:107
OMPL_FCL_StateType< T > stateConvertor_
Object to convert a configuration of the robot to a type desirable for FCL.
Definition: FCLStateValidityChecker.h:120
bool isValid(const ob::State *state) const override
Checks whether the given robot state collides with the environment or itself.
Definition: FCLStateValidityChecker.h:101
FCLMethodWrapperPtr fclWrapper_
Wrapper for FCL collision and distance methods.
Definition: FCLStateValidityChecker.h:123
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
bool satisfiesBounds(const State *state) const
Check if a state is inside the bounding box.
Definition: SpaceInformation.h:115
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:91
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
Definition: StateValidityChecker.h:161
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: StateValidityChecker.h:158
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: ConstrainedSpaceInformation.h:55
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
Definition: StateValidityChecker.h:80