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StateValidityChecker.h
AllValidStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition StateValidityChecker.h:186
bool isValid(const State *) const override
Always return true (all states are considered valid)
Definition StateValidityChecker.h:191
A 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:82
Abstract definition for a class checking the validity of states. The implementation of this class mus...
Definition StateValidityChecker.h:91
virtual bool operator==(const StateValidityChecker &) const
Checks for equivalence between two Statevaliditycheckers.
Definition StateValidityChecker.h:158
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
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:136
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:115
StateValidityCheckerSpecs specs_
The specifications of the state validity checker (its capabilities)
Definition StateValidityChecker.h:173
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:144
const StateValidityCheckerSpecs & getSpecs() const
Return the specifications (capabilities of this state validity checker)
Definition StateValidityChecker.h:151
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition StateValidityChecker.h:170
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:128
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66
Properties that a state validity checker may have.
Definition StateValidityChecker.h:61
bool hasValidDirectionComputation
Flag indicating that this state validity checker can return a direction that moves a state away from ...
Definition StateValidityChecker.h:84
ClearanceComputationType clearanceComputationType
Value indicating the kind of clearance computation this StateValidityChecker can compute (if any).
Definition StateValidityChecker.h:80
ClearanceComputationType
Specify the type of clearance computation.
Definition StateValidityChecker.h:64