ompl::control::OpenDEStateValidityChecker Class Reference

The simplest state validity checker: all states are valid. More...

`#include <ompl/extensions/ode/OpenDEStateValidityChecker.h>`

Inheritance diagram for ompl::control::OpenDEStateValidityChecker:

## Public Member Functions | |

OpenDEStateValidityChecker (const SpaceInformationPtr &si) | |

Constructor. | |

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

A state is considered valid if it is within bounds and not in collision. | |

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 Attributes | |

OpenDEStateSpace * | osm_ |

The corresponding OpenDE 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.

Definition at line 112 of file OpenDEStateValidityChecker.h.

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

- ompl/extensions/ode/OpenDEStateValidityChecker.h
- ompl/extensions/ode/src/OpenDEStateValidityChecker.cpp