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 
77  {
78  }
79 
83 
87  };
88 
93  {
94  public:
97  {
98  }
99 
101  StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
102  {
103  }
104 
105  virtual ~StateValidityChecker() = default;
106 
113  virtual bool isValid(const State *state) const = 0;
114 
117  virtual bool isValid(const State *state, double &dist) const
118  {
119  dist = clearance(state);
120  return isValid(state);
121  }
122 
130  virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
131  {
132  dist = clearance(state, validState, validStateAvailable);
133  return isValid(state);
134  }
135 
138  virtual double clearance(const State * /*state*/) const
139  {
140  return 0.0;
141  }
142 
146  virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
147  {
148  validStateAvailable = false;
149  return clearance(state);
150  }
151 
154  {
155  return specs_;
156  }
157 
158  protected:
161 
164  };
165 
168  {
169  public:
172  {
173  }
174 
177  {
178  }
179 
181  bool isValid(const State * /* state */) const override
182  {
183  return true;
184  }
185  };
186  }
187 }
188 
189 #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.