ompl_interface::StateValidityChecker Class Reference

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

#include <state_validity_checker.h>

Inheritance diagram for ompl_interface::StateValidityChecker:

Collaboration diagram for ompl_interface::StateValidityChecker:

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 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

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 54 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 207 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 187 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 83 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 135 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 78 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.

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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.h
• moveit_planners/ompl/ompl_interface/src/detail/state_validity_checker.cpp