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

Public Member Functions

Protected Attributes

Detailed Description