state_validity_checker.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
00039 
00040 #include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
00041 #include <moveit/collision_detection/collision_common.h>
00042 #include <ompl/base/StateValidityChecker.h>
00043 
00044 namespace ompl_interface
00045 {
00046 class ModelBasedPlanningContext;
00047 
00050 class StateValidityChecker : public ompl::base::StateValidityChecker
00051 {
00052 public:
00053   StateValidityChecker(const ModelBasedPlanningContext* planning_context);
00054 
00055   virtual bool isValid(const ompl::base::State* state) const
00056   {
00057     return isValid(state, verbose_);
00058   }
00059 
00060   virtual bool isValid(const ompl::base::State* state, double& dist) const
00061   {
00062     return isValid(state, dist, verbose_);
00063   }
00064 
00065   bool isValid(const ompl::base::State* state, bool verbose) const;
00066   bool isValid(const ompl::base::State* state, double& dist, bool verbose) const;
00067 
00068   virtual double cost(const ompl::base::State* state) const;
00069   virtual double clearance(const ompl::base::State* state) const;
00070 
00071   void setVerbose(bool flag);
00072 
00073 protected:
00074   bool isValidWithoutCache(const ompl::base::State* state, bool verbose) const;
00075   bool isValidWithoutCache(const ompl::base::State* state, double& dist, bool verbose) const;
00076 
00077   bool isValidWithCache(const ompl::base::State* state, bool verbose) const;
00078   bool isValidWithCache(const ompl::base::State* state, double& dist, bool verbose) const;
00079 
00080   const ModelBasedPlanningContext* planning_context_;
00081   std::string group_name_;
00082   TSStateStorage tss_;
00083   collision_detection::CollisionRequest collision_request_simple_;
00084   collision_detection::CollisionRequest collision_request_with_distance_;
00085   collision_detection::CollisionRequest collision_request_simple_verbose_;
00086   collision_detection::CollisionRequest collision_request_with_distance_verbose_;
00087 
00088   collision_detection::CollisionRequest collision_request_with_cost_;
00089   bool verbose_;
00090 };
00091 }
00092 
00093 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Mon Nov 26 2018 03:23:00