Program Listing for File StateValidityChecker.h

↰ Return to documentation for file (src/ompl/base/StateValidityChecker.h)

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* 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
    {
        OMPL_CLASS_FORWARD(SpaceInformation);


        OMPL_CLASS_FORWARD(StateValidityChecker);

        struct StateValidityCheckerSpecs
        {
            enum ClearanceComputationType
            {
                NONE = 0,
                EXACT,
                APPROXIMATE,
                BOUNDED_APPROXIMATE,
            };

            StateValidityCheckerSpecs() = default;

            ClearanceComputationType clearanceComputationType{NONE};

            bool hasValidDirectionComputation{false};
        };

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

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

            virtual ~StateValidityChecker() = default;

            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 *validState, bool &validStateAvailable) const
            {
                dist = clearance(state, validState, validStateAvailable);
                return isValid(state);
            }

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

            virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
            {
                validStateAvailable = false;
                return clearance(state);
            }

            const StateValidityCheckerSpecs &getSpecs() const
            {
                return specs_;
            }

            virtual bool operator==(const StateValidityChecker &) const
            {
                return false;
            }
            bool operator!=(const StateValidityChecker &rhs) const
            {
                return !(*this == rhs);
            }

        protected:
            SpaceInformation *si_;

            StateValidityCheckerSpecs specs_;
        };

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

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

            bool isValid(const State * /* state */) const override
            {
                return true;
            }
        };
    }  // namespace base
}  // namespace ompl

#endif