StateValidityChecker.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
#define OMPL_BASE_STATE_VALIDITY_CHECKER_
 
#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(SpaceInformation);
 
 
        OMPL_CLASS_FORWARD(StateValidityChecker);
 
        struct StateValidityCheckerSpecs
        {
            enum ClearanceComputationType
            {
                NONE = 0,
                EXACT,
                APPROXIMATE,
                BOUNDED_APPROXIMATE,
            };
 
            StateValidityCheckerSpecs() = default;
 
            ClearanceComputationType clearanceComputationType{NONE};
 
            bool hasValidDirectionComputation{false};
        };
 
        class StateValidityChecker
        {
        public:
            StateValidityChecker(SpaceInformation *si) : si_(si)
            {
            }
 
            StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
            {
            }
 
            virtual ~StateValidityChecker() = default;
 
            virtual bool isValid(const State *state) const = 0;
 
            virtual bool isValid(const State *state, double &dist) const
            {
                dist = clearance(state);
                return isValid(state);
            }
 
            virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
            {
                dist = clearance(state, validState, validStateAvailable);
                return isValid(state);
            }
 
            virtual double clearance(const State * /*state*/) const
            {
                return 0.0;
            }
 
            virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
            {
                validStateAvailable = false;
                return clearance(state);
            }
 
            const StateValidityCheckerSpecs &getSpecs() const
            {
                return specs_;
            }
 
        protected:
            SpaceInformation *si_;
 
            StateValidityCheckerSpecs specs_;
        };
 
        class AllValidStateValidityChecker : public StateValidityChecker
        {
        public:
            AllValidStateValidityChecker(SpaceInformation *si) : StateValidityChecker(si)
            {
            }
 
            AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
            {
            }
 
            bool isValid(const State * /* state */) const override
            {
                return true;
            }
        };
    }
}
 
#endif