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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="title">StateValidityChecker.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_STATE_VALIDITY_CHECKER_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/State.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 
<a name="l00046"></a>00046     <span class="keyword">namespace </span>base
<a name="l00047"></a>00047     {
<a name="l00048"></a>00048 
<a name="l00049"></a>00049         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(SpaceInformation);
<a name="l00050"></a>00050 
<a name="l00052"></a>00052         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(StateValidityChecker);
<a name="l00053"></a>00053 
<a name="l00060"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html">00060</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">StateValidityChecker</a>
<a name="l00061"></a>00061         {
<a name="l00062"></a>00062         <span class="keyword">public</span>:
<a name="l00063"></a>00063 
<a name="l00065"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#aa195ab177c3a7fe27641377e46354f1f">00065</a>             <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#aa195ab177c3a7fe27641377e46354f1f" title="Constructor.">StateValidityChecker</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a>* si) : <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af2c66e45895871b67a253db783df6982" title="The instance of space information this state validity checker operates on.">si_</a>(si)
<a name="l00066"></a>00066             {
<a name="l00067"></a>00067             }
<a name="l00068"></a>00068 
<a name="l00070"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a0fc97f8f1402e69a317cef0abd8385de">00070</a>             <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#aa195ab177c3a7fe27641377e46354f1f" title="Constructor.">StateValidityChecker</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a> &amp;si) : <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af2c66e45895871b67a253db783df6982" title="The instance of space information this state validity checker operates on.">si_</a>(si.get())
<a name="l00071"></a>00071             {
<a name="l00072"></a>00072             }
<a name="l00073"></a>00073 
<a name="l00074"></a>00074             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">StateValidityChecker</a>(<span class="keywordtype">void</span>)
<a name="l00075"></a>00075             {
<a name="l00076"></a>00076             }
<a name="l00077"></a>00077 
<a name="l00081"></a>00081             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a1e70a8c8c51e42c81408c5eae6108a4b" title="Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().">isValid</a>(<span class="keyword">const</span> State *state) <span class="keyword">const</span> = 0;
<a name="l00082"></a>00082 
<a name="l00084"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#ae2766855b39c29de0bf7e60768582e37">00084</a>             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a1e70a8c8c51e42c81408c5eae6108a4b" title="Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().">isValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keywordtype">double</span> &amp;dist)<span class="keyword"> const</span>
<a name="l00085"></a>00085 <span class="keyword">            </span>{
<a name="l00086"></a>00086                 dist = <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685" title="Report the distance to the nearest invalid state when starting from state. If the distance is negativ...">clearance</a>(state);
<a name="l00087"></a>00087                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a1e70a8c8c51e42c81408c5eae6108a4b" title="Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().">isValid</a>(state);
<a name="l00088"></a>00088             }
<a name="l00089"></a>00089 
<a name="l00093"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a62738d635f91e6092a73fa283cc59ab7">00093</a>             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a1e70a8c8c51e42c81408c5eae6108a4b" title="Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().">isValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keywordtype">double</span> &amp;dist, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *gradient, <span class="keywordtype">bool</span> &amp;gradientAvailable)<span class="keyword"> const</span>
<a name="l00094"></a>00094 <span class="keyword">            </span>{
<a name="l00095"></a>00095                 dist = <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685" title="Report the distance to the nearest invalid state when starting from state. If the distance is negativ...">clearance</a>(state, gradient, gradientAvailable);
<a name="l00096"></a>00096                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a1e70a8c8c51e42c81408c5eae6108a4b" title="Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds().">isValid</a>(state);
<a name="l00097"></a>00097             }
<a name="l00098"></a>00098 
<a name="l00101"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685">00101</a>             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685" title="Report the distance to the nearest invalid state when starting from state. If the distance is negativ...">clearance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)<span class="keyword"> const</span>
<a name="l00102"></a>00102 <span class="keyword">            </span>{
<a name="l00103"></a>00103                 <span class="keywordflow">return</span> 0.0;
<a name="l00104"></a>00104             }
<a name="l00105"></a>00105 
<a name="l00109"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#a09af6e51a7f97f2b6d0e0b82d108b161">00109</a>             <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685" title="Report the distance to the nearest invalid state when starting from state. If the distance is negativ...">clearance</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *gradient, <span class="keywordtype">bool</span> &amp;gradientAvailable)<span class="keyword"> const</span>
<a name="l00110"></a>00110 <span class="keyword">            </span>{
<a name="l00111"></a>00111                 gradientAvailable = <span class="keyword">false</span>;
<a name="l00112"></a>00112                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685" title="Report the distance to the nearest invalid state when starting from state. If the distance is negativ...">clearance</a>(state);
<a name="l00113"></a>00113             }
<a name="l00114"></a>00114 
<a name="l00115"></a>00115         <span class="keyword">protected</span>:
<a name="l00116"></a>00116 
<a name="l00118"></a><a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af2c66e45895871b67a253db783df6982">00118</a>             <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a> *<a class="code" href="classompl_1_1base_1_1StateValidityChecker.html#af2c66e45895871b67a253db783df6982" title="The instance of space information this state validity checker operates on.">si_</a>;
<a name="l00119"></a>00119 
<a name="l00120"></a>00120         };
<a name="l00121"></a>00121 
<a name="l00123"></a><a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html">00123</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html" title="The simplest state validity checker: all states are valid.">AllValidStateValidityChecker</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">StateValidityChecker</a>
<a name="l00124"></a>00124         {
<a name="l00125"></a>00125         <span class="keyword">public</span>:
<a name="l00126"></a>00126 
<a name="l00128"></a><a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html#add44d7428ce612f9f3ef979aad817bd1">00128</a>             <a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html#add44d7428ce612f9f3ef979aad817bd1" title="Constructor.">AllValidStateValidityChecker</a>(<a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a>* si) : <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">StateValidityChecker</a>(si)
<a name="l00129"></a>00129             {
<a name="l00130"></a>00130             }
<a name="l00131"></a>00131 
<a name="l00133"></a><a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html#a8d0114667d9a1915cd5992763f5aedfb">00133</a>             <a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html#add44d7428ce612f9f3ef979aad817bd1" title="Constructor.">AllValidStateValidityChecker</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a> &amp;si) : <a class="code" href="classompl_1_1base_1_1StateValidityChecker.html" title="Abstract definition for a class checking the validity of states. The implementation of this class mus...">StateValidityChecker</a>(si)
<a name="l00134"></a>00134             {
<a name="l00135"></a>00135             }
<a name="l00136"></a>00136 
<a name="l00138"></a><a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html#aa4c4626745ac85cf15e545863caa6282">00138</a>             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1AllValidStateValidityChecker.html#aa4c4626745ac85cf15e545863caa6282" title="Always return true (all states are considered valid)">isValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> * <span class="comment">/* state */</span> )<span class="keyword"> const</span>
<a name="l00139"></a>00139 <span class="keyword">            </span>{
<a name="l00140"></a>00140                 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00141"></a>00141             }
<a name="l00142"></a>00142         };
<a name="l00143"></a>00143 
<a name="l00144"></a>00144     }
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 
<a name="l00147"></a>00147 <span class="preprocessor">#endif</span>
</pre></div></div>
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