Class ConstrainedMotionValidator

Inheritance Relationships

Base Type

Class Documentation

class ConstrainedMotionValidator : public ompl::base::MotionValidator

Constrained configuration space specific implementation of checkMotion() that uses discreteGeodesic().

Public Functions

ConstrainedMotionValidator(SpaceInformation *si)

Constructor.

ConstrainedMotionValidator(const SpaceInformationPtr &si)

Constructor.

virtual bool checkMotion(const State *s1, const State *s2) const override

Return whether we can step from s1 to s2 along the manifold without collision.

virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const override

Return whether we can step from s1 to s2 along the manifold without collision. If not, return the last valid state and its interpolation parameter in lastValid.

Note

The interpolation parameter will not likely reproduce the last valid state if used in interpolation since the distance between the last valid state and s2 is estimated using the ambient metric.

Protected Attributes

const ConstrainedStateSpace &ss_

Space in which we check motion.