state_validity_checker.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_
#define MOVEIT_OMPL_INTERFACE_DETAIL_STATE_VALIDITY_CHECKER_

#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
#include <moveit/collision_detection/collision_common.h>
#include <ompl/base/StateValidityChecker.h>

namespace ompl_interface
{

class ModelBasedPlanningContext;

class StateValidityChecker : public ompl::base::StateValidityChecker
{
public:

  StateValidityChecker(const ModelBasedPlanningContext *planning_context);


  virtual bool isValid(const ompl::base::State *state) const
  {
    return isValid(state, verbose_);
  }

  virtual bool isValid(const ompl::base::State *state, double &dist) const
  {
    return isValid(state, dist, verbose_);
  }

  bool isValid(const ompl::base::State *state, bool verbose) const;
  bool isValid(const ompl::base::State *state, double &dist, bool verbose) const;

  virtual double cost(const ompl::base::State *state) const;
  virtual double clearance(const ompl::base::State *state) const;

  void setVerbose(bool flag);

protected:

  bool isValidWithoutCache(const ompl::base::State *state, bool verbose) const;
  bool isValidWithoutCache(const ompl::base::State *state, double &dist, bool verbose) const;

  bool isValidWithCache(const ompl::base::State *state, bool verbose) const;
  bool isValidWithCache(const ompl::base::State *state, double &dist, bool verbose) const;

  const ModelBasedPlanningContext      *planning_context_;
  std::string                           group_name_;
  TSStateStorage                        tss_;
  collision_detection::CollisionRequest collision_request_simple_;
  collision_detection::CollisionRequest collision_request_with_distance_;
  collision_detection::CollisionRequest collision_request_simple_verbose_;
  collision_detection::CollisionRequest collision_request_with_distance_verbose_;

  collision_detection::CollisionRequest collision_request_with_cost_;
  bool                                  verbose_;
};

}

#endif