ompl::base::MorseStateValidityChecker Class Reference

The simplest state validity checker: all states are valid if they are within bounds. More...

`#include <ompl/extensions/morse/MorseStateValidityChecker.h>`

Inheritance diagram for ompl::base::MorseStateValidityChecker:

## Public Member Functions | |

MorseStateValidityChecker (const SpaceInformationPtr &si) | |

Constructor. | |

bool | isValid (const State *state) const override |

A state is always considered valid if it satisfies the bounds. | |

Public Member Functions inherited from ompl::base::StateValidityChecker | |

StateValidityChecker (SpaceInformation *si) | |

Constructor. | |

StateValidityChecker (const SpaceInformationPtr &si) | |

Constructor. | |

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 state. | |

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 state (using clearance()). If a direction that moves state away from being invalid is available, a valid state in that direction is also set (validState). validStateAvailable is set to true if validState is updated. | |

virtual double | clearance (const State *) const |

Report the distance to the nearest invalid state when starting from state. If the distance is negative, the value of clearance is the penetration depth. | |

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, also specify a valid state validState in the direction that moves away from the colliding state. The validStateAvailable flag is set to true if validState is updated. | |

const StateValidityCheckerSpecs & | getSpecs () const |

Return the specifications (capabilities of this state validity checker) | |

## Protected Attributes | |

MorseStateSpace * | mss_ |

The corresponding MORSE state space. | |

Protected Attributes inherited from ompl::base::StateValidityChecker | |

SpaceInformation * | si_ |

The instance of space information this state validity checker operates on. | |

StateValidityCheckerSpecs | specs_ |

The specifications of the state validity checker (its capabilities) | |

## Detailed Description

The simplest state validity checker: all states are valid if they are within bounds.

Definition at line 49 of file MorseStateValidityChecker.h.

The documentation for this class was generated from the following files:

- ompl/extensions/morse/MorseStateValidityChecker.h
- ompl/extensions/morse/src/MorseStateValidityChecker.cpp