ompl::base::StateValidityChecker Class Referenceabstract

Abstract definition for a class checking the validity of states. The implementation of this class must be thread safe. More...

#include <ompl/base/StateValidityChecker.h>

Inheritance diagram for ompl::base::StateValidityChecker:

Public Member Functions

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)

Protected Attributes

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

Abstract definition for a class checking the validity of states. The implementation of this class must be thread safe.

Definition at line 90 of file StateValidityChecker.h.

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