StateValidityChecker.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
38 #define OMPL_BASE_STATE_VALIDITY_CHECKER_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
42 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
50  OMPL_CLASS_FORWARD(SpaceInformation);
52 
54 
55  OMPL_CLASS_FORWARD(StateValidityChecker);
57 
63  {
66  {
68  NONE = 0,
75  };
76 
78  {
79  }
80 
84 
88  };
89 
94  {
95  public:
96 
99  {
100  }
101 
104  {
105  }
106 
107  virtual ~StateValidityChecker()
108  {
109  }
110 
114  virtual bool isValid(const State *state) const = 0;
115 
117  virtual bool isValid(const State *state, double &dist) const
118  {
119  dist = clearance(state);
120  return isValid(state);
121  }
122 
127  virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
128  {
129  dist = clearance(state, validState, validStateAvailable);
130  return isValid(state);
131  }
132 
135  virtual double clearance(const State* /*state*/) const
136  {
137  return 0.0;
138  }
139 
143  virtual double clearance(const State *state, State* /*validState*/, bool &validStateAvailable) const
144  {
145  validStateAvailable = false;
146  return clearance(state);
147  }
148 
151  {
152  return specs_;
153  }
154 
155  protected:
156 
159 
162 
163  };
164 
167  {
168  public:
169 
172  {
173  }
174 
177  {
178  }
179 
181  virtual bool isValid(const State * /* state */ ) const
182  {
183  return true;
184  }
185  };
186 
187  }
188 }
189 
190 #endif
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
StateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Clearance computation is not implemented.
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
ClearanceComputationType
Specify the type of clearance computation.
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
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...
Properties that a state validity checker may have.
The simplest state validity checker: all states are valid.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Exact clearance computation is available.
StateValidityChecker(SpaceInformation *si)
Constructor.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
Definition of an abstract state.
Definition: State.h:50
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().
Some approximation of clearance is computed, but it is not clear if this is above or below the exact ...
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...
SpaceInformation * si_
The instance of space information this state validity checker operates on.
virtual bool isValid(const State *) const
Always return true (all states are considered valid)
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any)...
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...
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.