ompl_interface::ConstrainedPlanningStateValidityChecker Class Reference

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

#include <state_validity_checker.hpp>

Inheritance diagram for ompl_interface::ConstrainedPlanningStateValidityChecker:

Collaboration diagram for ompl_interface::ConstrainedPlanningStateValidityChecker:

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.
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
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/moveit/moveit/issues/2092#issuecomment-669911722.

Definition at line 120 of file state_validity_checker.hpp.

Constructor & Destructor Documentation

ConstrainedPlanningStateValidityChecker()

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

inline

Definition at line 126 of file state_validity_checker.hpp.

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Member Function Documentation

isValid() [1/5]

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

inlineoverride

Definition at line 65 of file state_validity_checker.hpp.

isValid() [2/5]

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

inlineoverride

Definition at line 70 of file state_validity_checker.hpp.

isValid() [3/5]

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.hpp.

isValid() [4/5]

bool ompl_interface::ConstrainedPlanningStateValidityChecker::isValid ( const ompl::base::State * wrapped_state, bool verbose ) const

overridevirtual

Check validity for states of type ompl::base::ConstrainedStateSpace.

This state type is special in that it "wraps" around a normal state, which can be accessed by the getState() method. In this class we assume that this state, is of type ompl_interface::ConstrainedPlanningStateSpace, which inherits from ompl_interface::ModelBasedStateSpace.

(For the actual implementation of this, look at the ompl::base::WrapperStateSpace.)

Code sample that can be used to check all the assumptions:

#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.hpp> #include <ompl/base/ConstrainedSpaceInformation.h>

// the code below should be pasted at the top of the isValid method auto css = dynamic_cast<const ompl::base::ConstrainedStateSpace::StateType*>(wrapped_state); assert(css != nullptr); auto cpss = dynamic_cast<const ConstrainedPlanningStateSpace*>(planning_context_->getOMPLStateSpace().get()); assert(cpss != nullptr); auto cssi = dynamic_cast<const ompl::base::ConstrainedSpaceInformation*>(si_); assert(cssi != nullptr);

Reimplemented from ompl_interface::StateValidityChecker.

Definition at line 221 of file state_validity_checker.cpp.

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isValid() [5/5]

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

overridevirtual

Reimplemented from ompl_interface::StateValidityChecker.

Definition at line 275 of file state_validity_checker.cpp.

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

• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/state_validity_checker.hpp
• moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp