state_validity_checker.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
38 #define MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
39 
41 #include <moveit/collision_detection/collision_common.h>
42 #include <ompl/base/StateValidityChecker.h>
43 
44 namespace ompl_interface
45 {
46 class ModelBasedPlanningContext;
47 
50 class StateValidityChecker : public ompl::base::StateValidityChecker
51 {
52 public:
53  StateValidityChecker(const ModelBasedPlanningContext* planning_context);
54 
55  virtual bool isValid(const ompl::base::State* state) const
56  {
57  return isValid(state, verbose_);
58  }
59 
60  virtual bool isValid(const ompl::base::State* state, double& dist) const
61  {
62  return isValid(state, dist, verbose_);
63  }
64 
65  bool isValid(const ompl::base::State* state, bool verbose) const;
66  bool isValid(const ompl::base::State* state, double& dist, bool verbose) const;
67 
68  virtual double cost(const ompl::base::State* state) const;
69  virtual double clearance(const ompl::base::State* state) const;
70 
71  void setVerbose(bool flag);
72 
73 protected:
74  bool isValidWithoutCache(const ompl::base::State* state, bool verbose) const;
75  bool isValidWithoutCache(const ompl::base::State* state, double& dist, bool verbose) const;
76 
77  bool isValidWithCache(const ompl::base::State* state, bool verbose) const;
78  bool isValidWithCache(const ompl::base::State* state, double& dist, bool verbose) const;
79 
81  std::string group_name_;
87 
89  bool verbose_;
90 };
91 }
92 
93 #endif
collision_detection::CollisionRequest collision_request_simple_verbose_
collision_detection::CollisionRequest collision_request_with_cost_
bool isValidWithCache(const ompl::base::State *state, bool verbose) const
collision_detection::CollisionRequest collision_request_simple_
virtual double cost(const ompl::base::State *state) const
collision_detection::CollisionRequest collision_request_with_distance_
StateValidityChecker(const ModelBasedPlanningContext *planning_context)
The MoveIt! interface to OMPL.
const ModelBasedPlanningContext * planning_context_
bool isValidWithoutCache(const ompl::base::State *state, bool verbose) const
virtual bool isValid(const ompl::base::State *state, double &dist) const
bool verbose
virtual double clearance(const ompl::base::State *state) const
collision_detection::CollisionRequest collision_request_with_distance_verbose_
An interface for a OMPL state validity checker.
virtual bool isValid(const ompl::base::State *state) const


ompl
Author(s): Ioan Sucan
autogenerated on Wed Dec 12 2018 03:49:44