All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
StateValidityChecker.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2008, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
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  OMPL_CLASS_FORWARD(SpaceInformation);
52 
54 
55  OMPL_CLASS_FORWARD(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
StateValidityChecker(const SpaceInformationPtr &si)
Constructor.
virtual double clearance(const State *) const
Report the distance to the nearest invalid state when starting from state. If the distance is negativ...
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
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...
Properties that a state validity checker may have.
The simplest state validity checker: all states are valid.
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
const StateValidityCheckerSpecs & getSpecs(void) const
Return the specifications (capabilities of this state validity checker)
Abstract definition for a class checking the validity of states. The implementation of this class mus...
StateValidityChecker(SpaceInformation *si)
Constructor.
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...
AllValidStateValidityChecker(SpaceInformation *si)
Constructor.
Definition of an abstract state.
Definition: State.h:50
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().
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...
SpaceInformation * si_
The instance of space information this state validity checker operates on.
virtual bool isValid(const State *) const
Always return true (all states are considered valid)
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any)...
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...
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.