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 
00047 class ModelBasedPlanningContext;
00048 
00051 class StateValidityChecker : public ompl::base::StateValidityChecker
00052 {
00053 public:
00054 
00055   StateValidityChecker(const ModelBasedPlanningContext *planning_context);
00056 
00057 
00058   virtual bool isValid(const ompl::base::State *state) const
00059   {
00060     return isValid(state, verbose_);
00061   }
00062 
00063   virtual bool isValid(const ompl::base::State *state, double &dist) const
00064   {
00065     return isValid(state, dist, verbose_);
00066   }
00067 
00068   bool isValid(const ompl::base::State *state, bool verbose) const;
00069   bool isValid(const ompl::base::State *state, double &dist, bool verbose) const;
00070 
00071   virtual double cost(const ompl::base::State *state) const;
00072   virtual double clearance(const ompl::base::State *state) const;
00073 
00074   void setVerbose(bool flag);
00075 
00076 protected:
00077 
00078   bool isValidWithoutCache(const ompl::base::State *state, bool verbose) const;
00079   bool isValidWithoutCache(const ompl::base::State *state, double &dist, bool verbose) const;
00080 
00081   bool isValidWithCache(const ompl::base::State *state, bool verbose) const;
00082   bool isValidWithCache(const ompl::base::State *state, double &dist, bool verbose) const;
00083 
00084   const ModelBasedPlanningContext      *planning_context_;
00085   std::string                           group_name_;
00086   TSStateStorage                        tss_;
00087   collision_detection::CollisionRequest collision_request_simple_;
00088   collision_detection::CollisionRequest collision_request_with_distance_;
00089   collision_detection::CollisionRequest collision_request_simple_verbose_;
00090   collision_detection::CollisionRequest collision_request_with_distance_verbose_;
00091 
00092   collision_detection::CollisionRequest collision_request_with_cost_;
00093   bool                                  verbose_;
00094 };
00095 
00096 }
00097 
00098 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Wed Sep 16 2015 04:42:27