KinematicChainValidityChecker Class Reference
Inheritance diagram for KinematicChainValidityChecker:
Public Member Functions | |
| KinematicChainValidityChecker (const ompl::base::SpaceInformationPtr &si) | |
| bool | isValid (const ompl::base::State *state) const override |
| 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(). | |
 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) | |
| virtual bool | operator== (const StateValidityChecker &) const |
| Checks for equivalence between two Statevaliditycheckers. | |
| bool | operator!= (const StateValidityChecker &rhs) const |
Protected Member Functions | |
| bool | isValidImpl (const KinematicChainSpace *space, const KinematicChainSpace::StateType *s) const |
| bool | selfIntersectionTest (const Environment &env) const |
| bool | environmentIntersectionTest (const Environment &env0, const Environment &env1) const |
| bool | intersectionTest (const Segment &s0, const Segment &s1) const |
Additional Inherited Members | |
| 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
Definition at line 193 of file KinematicChain.h.
The documentation for this class was generated from the following file:
- ompl/demos/KinematicChain.h