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ompl::vamp::VampStateValidityChecker< Robot, rake > Class Template Reference
Inheritance diagram for ompl::vamp::VampStateValidityChecker< Robot, rake >:
Public Types | |
| using | Environment = ::vamp::collision::Environment<::vamp::FloatVector<rake>> |
Public Member Functions | |
| VampStateValidityChecker (ob::SpaceInformation *si, const Environment &env) | |
| VampStateValidityChecker (const ob::SpaceInformationPtr &si, const Environment &env) | |
| auto | isValid (const ob::State *state) const -> bool 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 |
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
template<typename Robot, std::size_t rake = ::vamp::FloatVectorWidth>
class ompl::vamp::VampStateValidityChecker< Robot, rake >
class ompl::vamp::VampStateValidityChecker< Robot, rake >
Definition at line 22 of file VampStateValidityChecker.h.
Member Typedef Documentation
◆ Environment
template<typename Robot, std::size_t rake = ::vamp::FloatVectorWidth>
| using ompl::vamp::VampStateValidityChecker< Robot, rake >::Environment = ::vamp::collision::Environment<::vamp::FloatVector<rake>> |
Definition at line 25 of file VampStateValidityChecker.h.
Constructor & Destructor Documentation
◆ VampStateValidityChecker() [1/2]
template<typename Robot, std::size_t rake = ::vamp::FloatVectorWidth>
|
inline |
Definition at line 27 of file VampStateValidityChecker.h.
◆ VampStateValidityChecker() [2/2]
template<typename Robot, std::size_t rake = ::vamp::FloatVectorWidth>
|
inline |
Definition at line 32 of file VampStateValidityChecker.h.
Member Function Documentation
◆ isValid()
template<typename Robot, std::size_t rake = ::vamp::FloatVectorWidth>
|
inlineoverridevirtual |
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().
Implements ompl::base::StateValidityChecker.
Definition at line 37 of file VampStateValidityChecker.h.
The documentation for this class was generated from the following file:
- ompl/vamp/VampStateValidityChecker.h