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