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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
43namespace ompl
44{
45 namespace base
46 {
48 OMPL_CLASS_FORWARD(SpaceInformation);
50
52
53 OMPL_CLASS_FORWARD(StateValidityChecker);
55
61 {
64 {
66 NONE = 0,
74 };
75
76 StateValidityCheckerSpecs() = default;
77
81
85 };
86
91 {
92 public:
95 {
96 }
97
100 {
101 }
102
103 virtual ~StateValidityChecker() = default;
104
111 virtual bool isValid(const State *state) const = 0;
112
115 virtual bool isValid(const State *state, double &dist) const
116 {
117 dist = clearance(state);
118 return isValid(state);
119 }
120
128 virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
129 {
130 dist = clearance(state, validState, validStateAvailable);
131 return isValid(state);
132 }
133
136 virtual double clearance(const State * /*state*/) const
137 {
138 return 0.0;
139 }
140
144 virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
145 {
146 validStateAvailable = false;
147 return clearance(state);
148 }
149
152 {
153 return specs_;
154 }
155
156 protected:
159
162 };
163
166 {
167 public:
170 {
171 }
172
175 {
176 }
177
179 bool isValid(const State * /* state */) const override
180 {
181 return true;
182 }
183 };
184 }
185}
186
187#endif
The simplest state validity checker: all states are valid.
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
bool isValid(const State *) const override
Always return true (all states are considered valid)
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Abstract definition for a class checking the validity of states. The implementation of this class mus...
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....
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
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...
StateValidityChecker(SpaceInformation *si)
Constructor.
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
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,...
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
SpaceInformation * si_
The instance of space information this state validity checker operates on.
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...
Definition of an abstract state.
Definition State.h:50
Main namespace. Contains everything in this library.
Properties that a state validity checker may have.
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
ClearanceComputationType
Specify the type of clearance computation.
@ NONE
Clearance computation is not implemented.
@ BOUNDED_APPROXIMATE
A lower bound on clearance is computed.
@ EXACT
Exact clearance computation is available.