StateValidityChecker.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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 
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
The simplest state validity checker: all states are valid.
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
bool isValid(const State *) const override
Always return true (all states are considered valid)
AllValidStateValidityChecker(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...
Abstract definition for a class checking the validity of states. The implementation of this class mus...
StateValidityChecker(const SpaceInformationPtr &si)
Constructor.
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
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...
StateValidityChecker(SpaceInformation *si)
Constructor.
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
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,...
SpaceInformation * si_
The instance of space information this state validity checker operates on.
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...
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
Properties that a state validity checker may have.
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
ClearanceComputationType
Specify the type of clearance computation.
@ NONE
Clearance computation is not implemented.
@ BOUNDED_APPROXIMATE
A lower bound on clearance is computed.
@ EXACT
Exact clearance computation is available.