StateValidityChecker.h
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:82
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
Definition: StateValidityChecker.h:136
A shared pointer wrapper for ompl::base::SpaceInformation.
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition: StateValidityChecker.h:174
bool isValid(const State *) const override
Always return true (all states are considered valid)
Definition: StateValidityChecker.h:179
ClearanceComputationType
Specify the type of clearance computation.
Definition: StateValidityChecker.h:64
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...
Definition: StateValidityChecker.h:115
StateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition: StateValidityChecker.h:99
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
Definition: StateValidityChecker.h:80
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: StateValidityChecker.h:128
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
Definition: StateValidityChecker.h:161
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
@ APPROXIMATE
Definition: StateValidityChecker.h:71
Properties that a state validity checker may have.
Definition: StateValidityChecker.h:61
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,...
Definition: StateValidityChecker.h:144
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: StateValidityChecker.h:158
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
Definition: StateValidityChecker.h:169
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
Definition: StateValidityChecker.h:151
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:91
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
Definition: StateValidityChecker.h:84
The simplest state validity checker: all states are valid.
Definition: StateValidityChecker.h:166