HCIK.h
Go to the documentation of this file.00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_GEOMETRIC_IK_HCIK_ 00038 #define OMPL_GEOMETRIC_IK_HCIK_ 00039 00040 #include "ompl/base/SpaceInformation.h" 00041 #include "ompl/base/GoalRegion.h" 00042 00043 namespace ompl 00044 { 00045 00046 namespace geometric 00047 { 00048 00060 class HCIK 00061 { 00062 public: 00063 00065 HCIK(const base::SpaceInformationPtr &si) : si_(si), maxImproveSteps_(2), checkValidity_(true) 00066 { 00067 } 00068 00069 ~HCIK(void) 00070 { 00071 } 00072 00076 bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance = NULL) const; 00077 00079 void setMaxImproveSteps(unsigned int steps) 00080 { 00081 maxImproveSteps_ = steps; 00082 } 00083 00085 unsigned int getMaxImproveSteps(void) const 00086 { 00087 return maxImproveSteps_; 00088 } 00089 00091 void setValidityCheck(bool valid) 00092 { 00093 checkValidity_ = valid; 00094 } 00095 00097 bool getValidityCheck(void) const 00098 { 00099 return checkValidity_; 00100 } 00101 00102 private: 00103 00104 bool valid(const base::State *state) const 00105 { 00106 return checkValidity_ ? si_->isValid(state) : true; 00107 } 00108 00109 base::SpaceInformationPtr si_; 00110 unsigned int maxImproveSteps_; 00111 bool checkValidity_; 00112 }; 00113 00114 } 00115 00116 } 00117 00118 #endif