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src
ompl
base
StateValidityChecker.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
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#define OMPL_BASE_STATE_VALIDITY_CHECKER_
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#include "ompl/base/State.h"
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#include "ompl/util/ClassForward.h"
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namespace
ompl
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{
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namespace
base
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{
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OMPL_CLASS_FORWARD(SpaceInformation);
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OMPL_CLASS_FORWARD(StateValidityChecker);
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struct
StateValidityCheckerSpecs
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{
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enum
ClearanceComputationType
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{
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NONE = 0,
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EXACT,
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APPROXIMATE,
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BOUNDED_APPROXIMATE,
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};
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StateValidityCheckerSpecs
(
void
) :
clearanceComputationType
(NONE),
hasValidDirectionComputation
(
false
),
hasCostComputation
(
false
)
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{
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}
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ClearanceComputationType
clearanceComputationType
;
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bool
hasValidDirectionComputation
;
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bool
hasCostComputation
;
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};
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class
StateValidityChecker
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{
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public
:
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StateValidityChecker
(
SpaceInformation
* si) :
si_
(si)
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{
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}
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StateValidityChecker
(
const
SpaceInformationPtr
&si) :
si_
(si.get())
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{
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}
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virtual
~
StateValidityChecker
(
void
)
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{
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}
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virtual
bool
isValid
(
const
State *state)
const
= 0;
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virtual
bool
isValid
(
const
State
*state,
double
&dist)
const
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{
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dist =
clearance
(state);
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return
isValid
(state);
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}
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virtual
bool
isValid
(
const
State
*state,
double
&dist,
State
*validState,
bool
&validStateAvailable)
const
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{
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dist =
clearance
(state, validState, validStateAvailable);
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return
isValid
(state);
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}
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virtual
double
clearance
(
const
State
*state)
const
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{
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return
0.0;
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}
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virtual
double
clearance
(
const
State
*state,
State
*validState,
bool
&validStateAvailable)
const
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{
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validStateAvailable =
false
;
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return
clearance
(state);
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}
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virtual
double
cost
(
const
State
*state)
const
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{
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return
0.0;
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}
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const
StateValidityCheckerSpecs
&
getSpecs
(
void
)
const
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{
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return
specs_
;
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}
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protected
:
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SpaceInformation
*
si_
;
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StateValidityCheckerSpecs
specs_
;
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};
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class
AllValidStateValidityChecker
:
public
StateValidityChecker
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{
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public
:
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AllValidStateValidityChecker
(
SpaceInformation
* si) :
StateValidityChecker
(si)
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{
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}
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AllValidStateValidityChecker
(
const
SpaceInformationPtr
&si) :
StateValidityChecker
(si)
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{
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}
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virtual
bool
isValid
(
const
State
*
/* state */
)
const
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{
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return
true
;
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}
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};
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}
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}
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#endif