two_dimensional_validity_checker.h

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/* 
   Author: Dave Coleman <dave@dav.ee>
   Desc:   Validity checker that supports cost
*/

// Boost
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/io.hpp>

// OMPL
#include <ompl/base/SpaceInformation.h>

namespace ob = ompl::base;
namespace og = ompl::geometric;
namespace bnu = boost::numeric::ublas;

namespace ompl_rviz_viewer
{

class TwoDimensionalValidityChecker : public ob::StateValidityChecker
{
private:
  bnu::matrix<int> cost_;
  double max_threshold_;

public:

  TwoDimensionalValidityChecker( const ob::SpaceInformationPtr& si, const bnu::matrix<int>& cost,
    double max_threshold ) :
    StateValidityChecker(si)
  {
    cost_ = cost;
    max_threshold_ = max_threshold;
  }

  virtual bool isValid(const ob::State * state ) const
  {
    return cost(state) < max_threshold_;
  }

  virtual double cost(const ob::State *state) const
  {
    const double *coords = state->as<ob::RealVectorStateSpace::StateType>()->values;

    // Return the cost from the matrix at the current dimensions
    double cost = cost_( nat_round(coords[1]), nat_round(coords[0]) );

    return cost;
  }

};

} // namespace