two_dimensional_validity_checker.h

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/* Author: Dave Coleman
   Desc:   Custom State Validity Checker with cost function
*/

#ifndef OMPL_VISUAL_TOOLS__TWO_DIMENSIONAL_VALIDITY_CHECKER_
#define OMPL_VISUAL_TOOLS__TWO_DIMENSIONAL_VALIDITY_CHECKER_

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

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

namespace ob = ompl::base;

namespace ompl_visual_tools
{
  typedef boost::numeric::ublas::matrix<int> intMatrix;
  typedef boost::shared_ptr<intMatrix> intMatrixPtr;
}

namespace ompl
{
namespace base
{

// Nat_Rounding helper function to make readings from cost map more accurate
int nat_round(double x)
{
    return static_cast<int>(floor(x + 0.5f));
}

class TwoDimensionalValidityChecker : public ob::StateValidityChecker
{
private:
    ompl_visual_tools::intMatrixPtr cost_;
    double max_threshold_;

public:

    TwoDimensionalValidityChecker( const ob::SpaceInformationPtr& si, ompl_visual_tools::intMatrixPtr 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_ && cost(state) > 1;
    }

private:

    // Note: this cost function is not the one used for the optimization objective, it is only a helper function for isValid
    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;
    }
};
}
}

#endif