StateValidityChecker.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
38 #define OMPL_BASE_STATE_VALIDITY_CHECKER_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
48  OMPL_CLASS_FORWARD(SpaceInformation);
50 
52 
53  OMPL_CLASS_FORWARD(StateValidityChecker);
55 
61  {
64  {
66  NONE = 0,
74  };
75 
76  StateValidityCheckerSpecs() = default;
77 
81 
85  };
86 
91  {
92  public:
95  {
96  }
97 
99  StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
100  {
101  }
102 
103  virtual ~StateValidityChecker() = default;
104 
111  virtual bool isValid(const State *state) const = 0;
112 
115  virtual bool isValid(const State *state, double &dist) const
116  {
117  dist = clearance(state);
118  return isValid(state);
119  }
120 
128  virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
129  {
130  dist = clearance(state, validState, validStateAvailable);
131  return isValid(state);
132  }
133 
136  virtual double clearance(const State * /*state*/) const
137  {
138  return 0.0;
139  }
140 
144  virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
145  {
146  validStateAvailable = false;
147  return clearance(state);
148  }
149 
152  {
153  return specs_;
154  }
155 
156  protected:
159 
162  };
163 
166  {
167  public:
170  {
171  }
172 
175  {
176  }
177 
179  bool isValid(const State * /* state */) const override
180  {
181  return true;
182  }
183  };
184  }
185 }
186 
187 #endif
virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
Return true if the state state is valid. In addition, set dist to the distance to the nearest invalid...
StateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Clearance computation is not implemented.
virtual bool isValid(const State *state, double &dist) const
Return true if the state state is valid. In addition, set dist to the distance to the nearest invalid...
ClearanceComputationType
Specify the type of clearance computation.
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
Properties that a state validity checker may have.
The simplest state validity checker: all states are valid.
bool isValid(const State *) const override
Always return true (all states are considered valid)
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Exact clearance computation is available.
StateValidityChecker(SpaceInformation *si)
Constructor.
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...
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
Definition of an abstract state.
Definition: State.h:49
virtual double clearance(const State *state, State *, bool &validStateAvailable) const
Report the distance to the nearest invalid state when starting from state, and if possible...
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
SpaceInformation * si_
The instance of space information this state validity checker operates on.
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any)...
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.