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 
60  struct StateValidityCheckerSpecs
61  {
64  {
66  NONE = 0,
68  EXACT,
74  };
75 
76  StateValidityCheckerSpecs() = default;
77 
81 
84  bool hasValidDirectionComputation{false};
85  };
86 
90  class StateValidityChecker
91  {
92  public:
94  StateValidityChecker(SpaceInformation *si) : si_(si)
95  {
96  }
97 
99  StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
100  {
101  }
102 
103  virtual ~StateValidityChecker() = default;
104 
111  virtual bool isValid(const State *state) const = 0;
112 
115  virtual bool isValid(const State *state, double &dist) const
116  {
117  dist = clearance(state);
118  return isValid(state);
119  }
120 
128  virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
129  {
130  dist = clearance(state, validState, validStateAvailable);
131  return isValid(state);
132  }
133 
136  virtual double clearance(const State * /*state*/) const
137  {
138  return 0.0;
139  }
140 
144  virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
145  {
146  validStateAvailable = false;
147  return clearance(state);
148  }
149 
151  const StateValidityCheckerSpecs &getSpecs() const
152  {
153  return specs_;
154  }
155 
158  virtual bool operator ==(const StateValidityChecker&) const
159  {
160  return false;
161  }
162  bool operator !=(const StateValidityChecker &rhs) const
163  {
164  return !(*this == rhs);
165  }
166 
167 
168  protected:
171 
174  };
175 
177  class AllValidStateValidityChecker : public StateValidityChecker
178  {
179  public:
182  {
183  }
184 
187  {
188  }
189 
191  bool isValid(const State * /* state */) const override
192  {
193  return true;
194  }
195  };
196  }
197 }
198 
199 #endif
The base class for space information. This contains all the information about the space planning is d...
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:113
@ EXACT
Exact clearance computation is available.
bool isValid(const State *) const override
Always return true (all states are considered valid)
virtual bool operator==(const StateValidityChecker &) const
Checks for equivalence between two Statevaliditycheckers.
ClearanceComputationType
Specify the type of clearance computation.
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
StateValidityChecker(SpaceInformation *si)
Constructor.
@ BOUNDED_APPROXIMATE
A lower bound on clearance is computed.
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
Properties that a state validity checker may have.
SpaceInformation * si_
The instance of space information this state validity checker operates on.
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
Abstract definition for a class checking the validity of states. The implementation of this class mus...
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
@ NONE
Clearance computation is not implemented.
Main namespace. Contains everything in this library.