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ODEStateValidityChecker.cpp
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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 }
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