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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 
43 namespace ompl
44 {
45 
46  namespace base
47  {
48 
50  ClassForward(SpaceInformation);
52 
54 
55  ClassForward(StateValidityChecker);
57 
63  {
64  enum ClearanceComputationType
65  {
66  NONE = 0,
67  EXACT,
68  APPROXIMATE,
69  BOUNDED_APPROXIMATE,
70  };
71 
73  {
74  }
75 
78  ClearanceComputationType clearanceComputationType;
79 
83  };
84 
89  {
90  public:
91 
94  {
95  }
96 
99  {
100  }
101 
102  virtual ~StateValidityChecker(void)
103  {
104  }
105 
109  virtual bool isValid(const State *state) const = 0;
110 
112  virtual bool isValid(const State *state, double &dist) const
113  {
114  dist = clearance(state);
115  return isValid(state);
116  }
117 
122  virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
123  {
124  dist = clearance(state, validState, validStateAvailable);
125  return isValid(state);
126  }
127 
130  virtual double clearance(const State *state) const
131  {
132  return 0.0;
133  }
134 
138  virtual double clearance(const State *state, State *validState, bool &validStateAvailable) const
139  {
140  validStateAvailable = false;
141  return clearance(state);
142  }
143 
146  {
147  return specs_;
148  }
149 
150  protected:
151 
154 
157 
158  };
159 
162  {
163  public:
164 
167  {
168  }
169 
172  {
173  }
174 
176  virtual bool isValid(const State * /* state */ ) const
177  {
178  return true;
179  }
180  };
181 
182  }
183 }
184 
185 #endif