ompl::base::TypedStateValidityChecker< SpaceType_ > Class Template Reference
Inheritance diagram for ompl::base::TypedStateValidityChecker< SpaceType_ >:

Public Types

using SpaceType = SpaceType_
 
using SpaceInformationType = TypedSpaceInformation< SpaceType >
 

Public Member Functions

 TypedStateValidityChecker (SpaceInformationType *si)
 
 TypedStateValidityChecker (const typename SpaceInformationType::Ptr &si)
 
SpaceInformationTypegetTypedSpaceInformation () const
 
SpaceType * getTypedStateSpace () const
 
- Public Member Functions inherited from ompl::base::StateValidityChecker
 StateValidityChecker (SpaceInformation *si)
 Constructor.
 
 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. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().
 
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 StateValidityCheckerSpecsgetSpecs () const
 Return the specifications (capabilities of this state validity checker)
 

Static Public Member Functions

static SpaceType::StateType * state_as (State *s)
 
static const SpaceType::StateType * state_as (const State *s)
 

Additional Inherited Members

- Protected Attributes inherited from ompl::base::StateValidityChecker
SpaceInformationsi_
 The instance of space information this state validity checker operates on.
 
StateValidityCheckerSpecs specs_
 The specifications of the state validity checker (its capabilities)
 

Detailed Description

template<typename SpaceType_>
class ompl::base::TypedStateValidityChecker< SpaceType_ >

Definition at line 49 of file TypedStateValidityChecker.h.


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