StateValidityChecker.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
#define OMPL_BASE_STATE_VALIDITY_CHECKER_

#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"

namespace ompl
{

    namespace base
    {

        ClassForward(SpaceInformation);

        ClassForward(StateValidityChecker);

        class StateValidityChecker
        {
        public:

            StateValidityChecker(SpaceInformation* si) : si_(si)
            {
            }

            StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
            {
            }

            virtual ~StateValidityChecker(void)
            {
            }

            virtual bool isValid(const State *state) const = 0;

            virtual bool isValid(const State *state, double &dist) const
            {
                dist = clearance(state);
                return isValid(state);
            }

            virtual bool isValid(const State *state, double &dist, State *gradient, bool &gradientAvailable) const
            {
                dist = clearance(state, gradient, gradientAvailable);
                return isValid(state);
            }

            virtual double clearance(const State *state) const
            {
                return 0.0;
            }

            virtual double clearance(const State *state, State *gradient, bool &gradientAvailable) const
            {
                gradientAvailable = false;
                return clearance(state);
            }

        protected:

            SpaceInformation *si_;

        };

        class AllValidStateValidityChecker : public StateValidityChecker
        {
        public:

            AllValidStateValidityChecker(SpaceInformation* si) : StateValidityChecker(si)
            {
            }

            AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
            {
            }

            virtual bool isValid(const State * /* state */ ) const
            {
                return true;
            }
        };

    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:20 2013