A StateValidityChecker that can handle states of type ompl::base::ConstraintStateSpace::StateType. More...

#include <state_validity_checker.h>

Inheritance diagram for ompl_interface::ConstrainedPlanningStateValidityChecker:

Collaboration diagram for ompl_interface::ConstrainedPlanningStateValidityChecker:

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Public Member Functions
	ConstrainedPlanningStateValidityChecker (const ModelBasedPlanningContext *planning_context)

bool	isValid (const ompl::base::State *wrapped_state, bool verbose) const override
	Check validity for states of type ompl::base::ConstrainedStateSpace. More...

bool	isValid (const ompl::base::State *wrapped_state, double &dist, bool verbose) const override

bool	isValid (const ompl::base::State *state) const override

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

bool	isValid (const ompl::base::State state, double &dist, ompl::base::State , bool &) const override

virtual bool	isValid (const ompl::base::State *state, bool verbose) const

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

Public Member Functions inherited from ompl_interface::StateValidityChecker
	StateValidityChecker (const ModelBasedPlanningContext *planning_context)

bool	isValid (const ompl::base::State *state) const override

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

bool	isValid (const ompl::base::State state, double &dist, ompl::base::State , bool &) const override

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

double	clearance (const ompl::base::State *state) const override

void	setVerbose (bool flag)

Additional Inherited Members
Protected Attributes inherited from ompl_interface::StateValidityChecker
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_

Detailed Description

A StateValidityChecker that can handle states of type ompl::base::ConstraintStateSpace::StateType.

We cannot not just cast the states and pass them to the isValid version of the parent class, because inside the state-validity checker, the line:

planning_context_->getOMPLStateSpace()->copyToRobotState(*robot_state, state);

requires the state type to be of the constrained state space, while:

state->as<ModelBasedStateSpace::StateType>()->isValidityKnown()

requires accessing the underlying state by calling getState() on the constrained state space state. Therefore this class implements specific versions of the isValid methods.

We still check the path constraints, because not all states sampled by the constrained state space satisfy the constraints unfortunately. This is a complicated issue. For more details see: https://github.com/ros-planning/moveit/issues/2092#issuecomment-669911722.

Definition at line 120 of file state_validity_checker.h.

Constructor & Destructor Documentation

◆ ConstrainedPlanningStateValidityChecker()

ompl_interface::ConstrainedPlanningStateValidityChecker::ConstrainedPlanningStateValidityChecker ( const ModelBasedPlanningContext * planning_context )

inline

Definition at line 126 of file state_validity_checker.h.