OpenDEStateValidityChecker.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
38 #include "ompl/util/Exception.h"
39 
41  : base::StateValidityChecker(si)
42 {
43  if (dynamic_cast<OpenDEStateSpace *>(si->getStateSpace().get()) == nullptr)
44  throw Exception("Cannot create state validity checking for OpenDE without OpenDE state space");
45  osm_ = si->getStateSpace()->as<OpenDEStateSpace>();
46 }
47 
49 {
50  const auto *s = state->as<OpenDEStateSpace::StateType>();
51 
52  // if we know the value of the validity flag for this state, we return it
53  if ((s->collision & (1 << OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT)) != 0)
54  return (s->collision & (1 << OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT)) != 0;
55 
56  // if not, we compute it:
57  bool valid = false;
58 
59  if (!osm_->evaluateCollision(state))
61 
62  if (valid)
63  s->collision &= (1 << OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT);
64 
65  // mark the fact we know the value of the validity bit
66  s->collision &= (1 << OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT);
67 
68  return valid;
69 }
Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value ...
virtual bool evaluateCollision(const base::State *state) const
Fill the OpenDEStateSpace::STATE_COLLISION_VALUE_BIT of StateType::collision member of a state...
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state s...
OpenDEStateSpace * osm_
The corresponding OpenDE state space.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
State space representing OpenDE states.
bool satisfiesBoundsExceptRotation(const StateType *state) const
This is a convenience function provided for optimization purposes. It checks whether a state satisfie...
Index of bit in StateType::collision indicating whether it is known if a state is in valid or not...
OpenDEStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
The exception type for ompl.
Definition: Exception.h:46
bool isValid(const base::State *state) const override
A state is considered valid if it is within bounds and not in collision.