00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Rice University 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Rice University nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include "ompl/extensions/ode/ODEStateValidityChecker.h" 00038 #include "ompl/util/Exception.h" 00039 00040 ompl::control::ODEStateValidityChecker::ODEStateValidityChecker(base::SpaceInformation* si) : base::StateValidityChecker(si) 00041 { 00042 if (!dynamic_cast<ODEStateManifold*>(si->getStateManifold().get())) 00043 throw Exception("Cannot create state validity checking for ODE without ODE manifold"); 00044 osm_ = si->getStateManifold()->as<ODEStateManifold>(); 00045 } 00046 00047 ompl::control::ODEStateValidityChecker::ODEStateValidityChecker(const SpaceInformationPtr &si) : base::StateValidityChecker(si) 00048 { 00049 if (!dynamic_cast<ODEStateManifold*>(si->getStateManifold().get())) 00050 throw Exception("Cannot create state validity checking for ODE without ODE manifold"); 00051 osm_ = si->getStateManifold()->as<ODEStateManifold>(); 00052 } 00053 00054 bool ompl::control::ODEStateValidityChecker::isValid(const base::State *state) const 00055 { 00056 const ODEStateManifold::StateType *s = state->as<ODEStateManifold::StateType>(); 00057 00058 // if we know the value of the validity flag for this state, we return it 00059 if (s->collision & (1 << ODEStateManifold::STATE_VALIDITY_KNOWN_BIT)) 00060 return s->collision & (1 << ODEStateManifold::STATE_VALIDITY_VALUE_BIT); 00061 00062 // if not, we compute it: 00063 bool valid = false; 00064 00065 if (!osm_->evaluateCollision(state)) 00066 valid = osm_->satisfiesBoundsExceptRotation(s); 00067 00068 if (valid) 00069 s->collision &= (1 << ODEStateManifold::STATE_VALIDITY_VALUE_BIT); 00070 00071 // mark the fact we know the value of the validity bit 00072 s->collision &= (1 << ODEStateManifold::STATE_VALIDITY_KNOWN_BIT); 00073 00074 return valid; 00075 }