state_validity_checker.hpp

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/* Author: Ioan Sucan, Jeroen De Maeyer  */
 
#pragma once
 
#include <moveit/ompl_interface/detail/threadsafe_state_storage.hpp>
#include <moveit/collision_detection/collision_common.hpp>
#include <ompl/base/StateValidityChecker.h>
 
namespace ompl_interface
{
class ModelBasedPlanningContext;
 
class StateValidityChecker : public ompl::base::StateValidityChecker
{
public:
  StateValidityChecker(const ModelBasedPlanningContext* planning_context);
 
  bool isValid(const ompl::base::State* state) const override
  {
    return isValid(state, verbose_);
  }
 
  bool isValid(const ompl::base::State* state, double& dist) const override
  {
    return isValid(state, dist, verbose_);
  }
 
  bool isValid(const ompl::base::State* state, double& dist, ompl::base::State* /*validState*/,
               bool& /*validStateAvailable*/) const override
  {
    return isValid(state, dist, verbose_);
  }
 
  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:
  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_;
};
 
class ConstrainedPlanningStateValidityChecker : public StateValidityChecker
{
public:
  using StateValidityChecker::isValid;
 
public:
  ConstrainedPlanningStateValidityChecker(const ModelBasedPlanningContext* planning_context)
    : StateValidityChecker(planning_context)
  {
  }
 
  bool isValid(const ompl::base::State* wrapped_state, bool verbose) const override;
  bool isValid(const ompl::base::State* wrapped_state, double& dist, bool verbose) const override;
};
}  // namespace ompl_interface