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ompl_interface::StateValidityChecker Class Reference

An interface for a OMPL state validity checker. More...

#include <state_validity_checker.h>

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Public Member Functions

 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 bool isValid (const ompl::base::State *state, bool verbose) const
 
virtual bool isValid (const ompl::base::State *state, double &dist, bool verbose) const
 
virtual double cost (const ompl::base::State *state) const
 
double clearance (const ompl::base::State *state) const override
 
void setVerbose (bool flag)
 

Protected Attributes

const ModelBasedPlanningContextplanning_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

An interface for a OMPL state validity checker.

Definition at line 60 of file state_validity_checker.h.

Constructor & Destructor Documentation

◆ StateValidityChecker()

ompl_interface::StateValidityChecker::StateValidityChecker ( const ModelBasedPlanningContext planning_context)

Definition at line 47 of file state_validity_checker.cpp.

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Member Function Documentation

◆ clearance()

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

Definition at line 200 of file state_validity_checker.cpp.

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◆ cost()

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

Definition at line 180 of file state_validity_checker.cpp.

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◆ isValid() [1/5]

bool ompl_interface::StateValidityChecker::isValid ( const ompl::base::State *  state) const
inlineoverride

Definition at line 65 of file state_validity_checker.h.

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◆ isValid() [2/5]

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

Reimplemented in ompl_interface::ConstrainedPlanningStateValidityChecker.

Definition at line 76 of file state_validity_checker.cpp.

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◆ isValid() [3/5]

bool ompl_interface::StateValidityChecker::isValid ( const ompl::base::State *  state,
double &  dist 
) const
inlineoverride

Definition at line 70 of file state_validity_checker.h.

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◆ isValid() [4/5]

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

Reimplemented in ompl_interface::ConstrainedPlanningStateValidityChecker.

Definition at line 128 of file state_validity_checker.cpp.

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◆ isValid() [5/5]

bool ompl_interface::StateValidityChecker::isValid ( const ompl::base::State *  state,
double &  dist,
ompl::base::State *  ,
bool &   
) const
inlineoverride

Definition at line 75 of file state_validity_checker.h.

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◆ setVerbose()

void ompl_interface::StateValidityChecker::setVerbose ( bool  flag)

Definition at line 71 of file state_validity_checker.cpp.

Member Data Documentation

◆ collision_request_simple_

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_simple_
protected

Definition at line 93 of file state_validity_checker.h.

◆ collision_request_simple_verbose_

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_simple_verbose_
protected

Definition at line 95 of file state_validity_checker.h.

◆ collision_request_with_cost_

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_with_cost_
protected

Definition at line 98 of file state_validity_checker.h.

◆ collision_request_with_distance_

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_with_distance_
protected

Definition at line 94 of file state_validity_checker.h.

◆ collision_request_with_distance_verbose_

collision_detection::CollisionRequest ompl_interface::StateValidityChecker::collision_request_with_distance_verbose_
protected

Definition at line 96 of file state_validity_checker.h.

◆ group_name_

std::string ompl_interface::StateValidityChecker::group_name_
protected

Definition at line 91 of file state_validity_checker.h.

◆ planning_context_

const ModelBasedPlanningContext* ompl_interface::StateValidityChecker::planning_context_
protected

Definition at line 90 of file state_validity_checker.h.

◆ tss_

TSStateStorage ompl_interface::StateValidityChecker::tss_
protected

Definition at line 92 of file state_validity_checker.h.

◆ verbose_

bool ompl_interface::StateValidityChecker::verbose_
protected

Definition at line 99 of file state_validity_checker.h.


The documentation for this class was generated from the following files: