00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 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 Willow Garage, Inc. 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 00037 #include <ompl_ros_interface/state_validity_checkers/ompl_ros_joint_state_validity_checker.h> 00038 00039 namespace ompl_ros_interface 00040 { 00041 00042 bool OmplRosJointStateValidityChecker::isValid(const ompl::base::State *ompl_state) const 00043 { 00044 ompl_ros_interface::omplStateToKinematicStateGroup(ompl_state, 00045 ompl_state_to_kinematic_state_mapping_, 00046 joint_state_group_); 00047 std::vector<planning_models::KinematicState::JointState*> joint_states = joint_state_group_->getJointStateVector(); 00048 for(unsigned int i=0; i < joint_states.size(); i++) 00049 { 00050 if(!joint_states[i]->areJointStateValuesWithinBounds()) 00051 { 00052 ROS_ERROR("State violates joint limits for Joint %s",joint_states[i]->getName().c_str()); 00053 return false; 00054 } 00055 } 00056 00057 if(!path_constraint_evaluator_set_.decide(kinematic_state_, false)) 00058 { 00059 ROS_DEBUG("Path constraints violated"); 00060 return false; 00061 } 00062 00063 joint_state_group_->updateKinematicLinks(); 00064 planning_monitor_->getEnvironmentModel()->updateRobotModel(kinematic_state_); 00065 bool collision_validity_check = (!planning_monitor_->getEnvironmentModel()->isCollision() && !planning_monitor_->getEnvironmentModel()->isSelfCollision()); 00066 if(!collision_validity_check) 00067 { 00068 ROS_DEBUG("State is in collision"); 00069 } 00070 return collision_validity_check; 00071 } 00072 00073 bool OmplRosJointStateValidityChecker::isStateValid(const ompl::base::State *ompl_state) 00074 { 00075 ompl_ros_interface::omplStateToKinematicStateGroup(ompl_state, 00076 ompl_state_to_kinematic_state_mapping_, 00077 joint_state_group_); 00078 std::vector<planning_models::KinematicState::JointState*> joint_states = joint_state_group_->getJointStateVector(); 00079 for(unsigned int i=0; i < joint_states.size(); i++) 00080 { 00081 if(!joint_states[i]->areJointStateValuesWithinBounds()) 00082 { 00083 ROS_ERROR("State violates joint limits for Joint %s",joint_states[i]->getName().c_str()); 00084 error_code_.val = error_code_.JOINT_LIMITS_VIOLATED; 00085 return false; 00086 } 00087 } 00088 00089 if(!path_constraint_evaluator_set_.decide(kinematic_state_, false)) 00090 { 00091 ROS_DEBUG("Path constraints violated"); 00092 error_code_.val = error_code_.PATH_CONSTRAINTS_VIOLATED; 00093 return false; 00094 } 00095 00096 joint_state_group_->updateKinematicLinks(); 00097 planning_monitor_->getEnvironmentModel()->updateRobotModel(kinematic_state_); 00098 bool collision_validity_check = (!planning_monitor_->getEnvironmentModel()->isCollision() && !planning_monitor_->getEnvironmentModel()->isSelfCollision()); 00099 if(!collision_validity_check) 00100 { 00101 ROS_DEBUG("State is in collision"); 00102 error_code_.val = error_code_.COLLISION_CONSTRAINTS_VIOLATED; 00103 } 00104 return collision_validity_check; 00105 } 00106 00107 }