ompl_interface::StateValidityChecker Class Reference

An interface for a OMPL state validity checker. More...

#include <state_validity_checker.h>

Inheritance diagram for ompl_interface::StateValidityChecker:

Public Member Functions
virtual double	clearance (const ompl::base::State *state) const
virtual double	cost (const ompl::base::State *state) const
virtual bool	isValid (const ompl::base::State *state) const
virtual bool	isValid (const ompl::base::State *state, double &dist) const
bool	isValid (const ompl::base::State *state, bool verbose) const
bool	isValid (const ompl::base::State *state, double &dist, bool verbose) const
void	setVerbose (bool flag)
	StateValidityChecker (const ModelBasedPlanningContext *planning_context)

Protected Member Functions
bool	isValidWithCache (const ompl::base::State *state, bool verbose) const
bool	isValidWithCache (const ompl::base::State *state, double &dist, bool verbose) const
bool	isValidWithoutCache (const ompl::base::State *state, bool verbose) const
bool	isValidWithoutCache (const ompl::base::State *state, double &dist, bool verbose) const

Protected Attributes
collision_detection::CollisionRequest	collision_request_simple_
collision_detection::CollisionRequest	collision_request_simple_verbose_
collision_detection::CollisionRequest	collision_request_with_cost_
collision_detection::CollisionRequest	collision_request_with_distance_
collision_detection::CollisionRequest	collision_request_with_distance_verbose_
std::string	group_name_
const ModelBasedPlanningContext *	planning_context_
TSStateStorage	tss_
bool	verbose_

Detailed Description

An interface for a OMPL state validity checker.

Definition at line 50 of file state_validity_checker.h.

Constructor & Destructor Documentation

ompl_interface::StateValidityChecker::StateValidityChecker

(

const ModelBasedPlanningContext *

planning_context

)

Definition at line 42 of file state_validity_checker.cpp.

Member Function Documentation

double ompl_interface::StateValidityChecker::clearance ( const ompl::base::State *  state ) const

virtual

Definition at line 103 of file state_validity_checker.cpp.

double ompl_interface::StateValidityChecker::cost ( const ompl::base::State *  state ) const

virtual

Definition at line 85 of file state_validity_checker.cpp.

virtual bool ompl_interface::StateValidityChecker::isValid ( const ompl::base::State *  state ) const

inlinevirtual

Definition at line 55 of file state_validity_checker.h.

virtual bool ompl_interface::StateValidityChecker::isValid ( const ompl::base::State *  state, double &  dist  ) const

inlinevirtual

Definition at line 60 of file state_validity_checker.h.

bool ompl_interface::StateValidityChecker::isValid	(	const ompl::base::State *	state,
		bool	verbose
	)		const

Definition at line 71 of file state_validity_checker.cpp.

bool ompl_interface::StateValidityChecker::isValid	(	const ompl::base::State *	state,
		double &	dist,
		bool	verbose
	)		const

Definition at line 78 of file state_validity_checker.cpp.

bool ompl_interface::StateValidityChecker::isValidWithCache ( const ompl::base::State *  state, bool  verbose  ) const

protected

Definition at line 183 of file state_validity_checker.cpp.

bool ompl_interface::StateValidityChecker::isValidWithCache ( const ompl::base::State *  state, double &  dist, bool  verbose  ) const

protected

Definition at line 230 of file state_validity_checker.cpp.

bool ompl_interface::StateValidityChecker::isValidWithoutCache ( const ompl::base::State *  state, bool  verbose  ) const

protected

Definition at line 113 of file state_validity_checker.cpp.

bool ompl_interface::StateValidityChecker::isValidWithoutCache ( const ompl::base::State *  state, double &  dist, bool  verbose  ) const

protected

Definition at line 143 of file state_validity_checker.cpp.

void ompl_interface::StateValidityChecker::setVerbose

(

bool

flag

)

Definition at line 66 of file state_validity_checker.cpp.

Member Data Documentation

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_simple_

protected

Definition at line 83 of file state_validity_checker.h.

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_simple_verbose_

protected

Definition at line 85 of file state_validity_checker.h.

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_with_cost_

protected

Definition at line 88 of file state_validity_checker.h.

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_with_distance_

protected

Definition at line 84 of file state_validity_checker.h.

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_with_distance_verbose_

protected

Definition at line 86 of file state_validity_checker.h.

std::string ompl_interface::StateValidityChecker::group_name_

protected

Definition at line 81 of file state_validity_checker.h.

const ModelBasedPlanningContext* ompl_interface::StateValidityChecker::planning_context_

protected

Definition at line 80 of file state_validity_checker.h.

TSStateStorage ompl_interface::StateValidityChecker::tss_

protected

Definition at line 82 of file state_validity_checker.h.

bool ompl_interface::StateValidityChecker::verbose_

protected

Definition at line 89 of file state_validity_checker.h.

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The documentation for this class was generated from the following files:

• state_validity_checker.h
• state_validity_checker.cpp