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src
ompl
extensions
opende
src
OpenDEStateValidityChecker.cpp
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Rice University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Rice University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
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#include "ompl/util/Exception.h"
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ompl::control::OpenDEStateValidityChecker::OpenDEStateValidityChecker
(
const
SpaceInformationPtr
&si) : base::StateValidityChecker(si)
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{
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if
(!dynamic_cast<OpenDEStateSpace*>(si->getStateSpace().get()))
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throw
Exception
(
"Cannot create state validity checking for OpenDE without OpenDE state space"
);
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osm_
= si->getStateSpace()->as<
OpenDEStateSpace
>();
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}
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bool
ompl::control::OpenDEStateValidityChecker::isValid
(
const
base::State
*state)
const
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{
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const
OpenDEStateSpace::StateType
*s = state->
as
<
OpenDEStateSpace::StateType
>();
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// if we know the value of the validity flag for this state, we return it
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if
(s->
collision
& (1 <<
OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT
))
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return
s->
collision
& (1 <<
OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT
);
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// if not, we compute it:
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bool
valid =
false
;
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if
(!osm_->evaluateCollision(state))
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valid = osm_->satisfiesBoundsExceptRotation(s);
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if
(valid)
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s->
collision
&= (1 <<
OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT
);
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// mark the fact we know the value of the validity bit
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s->
collision
&= (1 <<
OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT
);
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return
valid;
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}