StateValidityChecker.h
77 StateValidityCheckerSpecs() : clearanceComputationType(NONE), hasValidDirectionComputation(false)
127 virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
143 virtual double clearance(const State *state, State* /*validState*/, bool &validStateAvailable) const
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: StateValidityChecker.h:127
virtual bool isValid(const State *) const
Always return true (all states are considered valid)
Definition: StateValidityChecker.h:181
StateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition: StateValidityChecker.h:103
Clearance computation is not implemented.
Definition: StateValidityChecker.h:68
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...
Definition: StateValidityChecker.h:117
ClearanceComputationType
Specify the type of clearance computation.
Definition: StateValidityChecker.h:65
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
Definition: StateValidityChecker.h:135
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
Definition: StateValidityChecker.h:161
Properties that a state validity checker may have.
Definition: StateValidityChecker.h:62
The simplest state validity checker: all states are valid.
Definition: StateValidityChecker.h:166
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
Definition: StateValidityChecker.h:87
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition: StateValidityChecker.h:93
Exact clearance computation is available.
Definition: StateValidityChecker.h:70
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
Definition: StateValidityChecker.h:171
A lower bound on clearance is computed.
Definition: StateValidityChecker.h:74
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...
Definition: StateValidityChecker.h:143
Some approximation of clearance is computed, but it is not clear if this is above or below the exact ...
Definition: StateValidityChecker.h:72
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
Definition: StateValidityChecker.h:150
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition: StateValidityChecker.h:158
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any)...
Definition: StateValidityChecker.h:83
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition: StateValidityChecker.h:176