<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd"> <html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/> <title>OMPL: ompl::base::StateValidityChecker Class Reference</title> <meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. 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The implementation of this class must be thread safe. <a href="classompl_1_1base_1_1StateValidityChecker.html#details">More...</a></p> <p><code>#include <<a class="el" href="StateValidityChecker_8h_source.html">StateValidityChecker.h</a>></code></p> <div class="dynheader"> Inheritance diagram for ompl::base::StateValidityChecker:</div> <div class="dyncontent"> <div class="center"><img src="classompl_1_1base_1_1StateValidityChecker__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1StateValidityChecker_inherit__map" alt="Inheritance graph"/></div> <map name="ompl_1_1base_1_1StateValidityChecker_inherit__map" id="ompl_1_1base_1_1StateValidityChecker_inherit__map"> <area shape="rect" id="node3" href="classompl_1_1base_1_1AllValidStateValidityChecker.html" title="The simplest state validity checker: all states are valid." alt="" coords="5,83,267,112"/><area shape="rect" id="node5" href="classompl_1_1control_1_1ODEStateValidityChecker.html" title="The simplest state validity checker: all states are valid." alt="" coords="291,83,547,112"/></map> <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div> <p><a href="classompl_1_1base_1_1StateValidityChecker-members.html">List of all members.</a></p> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="pub-methods"></a> Public Member Functions</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa195ab177c3a7fe27641377e46354f1f"></a><!-- doxytag: member="ompl::base::StateValidityChecker::StateValidityChecker" ref="aa195ab177c3a7fe27641377e46354f1f" args="(SpaceInformation *si)" -->  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#aa195ab177c3a7fe27641377e46354f1f">StateValidityChecker</a> (<a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> *si)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0fc97f8f1402e69a317cef0abd8385de"></a><!-- doxytag: member="ompl::base::StateValidityChecker::StateValidityChecker" ref="a0fc97f8f1402e69a317cef0abd8385de" args="(const SpaceInformationPtr &si)" -->  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#a0fc97f8f1402e69a317cef0abd8385de">StateValidityChecker</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformationPtr.html">SpaceInformationPtr</a> &si)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1e70a8c8c51e42c81408c5eae6108a4b"></a><!-- doxytag: member="ompl::base::StateValidityChecker::isValid" ref="a1e70a8c8c51e42c81408c5eae6108a4b" args="(const State *state) const =0" --> virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#a1e70a8c8c51e42c81408c5eae6108a4b">isValid</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const =0</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if the state <em>state</em> is valid. Usually, this means at least collision checking. If it is possible that <a class="el" href="classompl_1_1base_1_1StateSpace.html#a4220070a3365dd973e09c251f3381107" title="Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...">ompl::base::StateSpace::interpolate()</a> or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to <a class="el" href="classompl_1_1base_1_1SpaceInformation.html#ad76b863efa604add17cae43b4ebcb0b9" title="Check if a state is inside the bounding box.">ompl::base::SpaceInformation::satisfiesBounds()</a>. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae2766855b39c29de0bf7e60768582e37"></a><!-- doxytag: member="ompl::base::StateValidityChecker::isValid" ref="ae2766855b39c29de0bf7e60768582e37" args="(const State *state, double &dist) const " --> virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#ae2766855b39c29de0bf7e60768582e37">isValid</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, double &dist) const </td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if the state <em>state</em> is valid. In addition, set <em>dist</em> to the distance to the nearest invalid state. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a62738d635f91e6092a73fa283cc59ab7"></a><!-- doxytag: member="ompl::base::StateValidityChecker::isValid" ref="a62738d635f91e6092a73fa283cc59ab7" args="(const State *state, double &dist, State *gradient, bool &gradientAvailable) const " --> virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#a62738d635f91e6092a73fa283cc59ab7">isValid</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, double &dist, <a class="el" href="classompl_1_1base_1_1State.html">State</a> *gradient, bool &gradientAvailable) const </td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if the state <em>state</em> is valid. In addition, set <em>dist</em> to the distance to the nearest invalid state. If a direction that moves <em>state</em> away from being invalid is available, it is set in <em>gradient</em>. <em>gradient</em> is an element of the tangent space that contains <em>state</em>. <em>gradientAvailable</em> is set to true if <em>gradient</em> is updated. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af6d14bb381913a2ee79a671a8c9ea685"></a><!-- doxytag: member="ompl::base::StateValidityChecker::clearance" ref="af6d14bb381913a2ee79a671a8c9ea685" args="(const State *state) const " --> virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#af6d14bb381913a2ee79a671a8c9ea685">clearance</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state) const </td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Report the distance to the nearest invalid state when starting from <em>state</em>. If the distance is negative, the value of clearance is the penetration depth. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a09af6e51a7f97f2b6d0e0b82d108b161"></a><!-- doxytag: member="ompl::base::StateValidityChecker::clearance" ref="a09af6e51a7f97f2b6d0e0b82d108b161" args="(const State *state, State *gradient, bool &gradientAvailable) const " --> virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#a09af6e51a7f97f2b6d0e0b82d108b161">clearance</a> (const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, <a class="el" href="classompl_1_1base_1_1State.html">State</a> *gradient, bool &gradientAvailable) const </td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Report the distance to the nearest invalid state when starting from <em>state</em>, and if available, also set the gradient: the direction that moves away from the colliding state. <em>gradientAvailable</em> is set to true if <em>gradient</em> is updated. <br/></td></tr> <tr><td colspan="2"><h2><a name="pro-attribs"></a> Protected Attributes</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af2c66e45895871b67a253db783df6982"></a><!-- doxytag: member="ompl::base::StateValidityChecker::si_" ref="af2c66e45895871b67a253db783df6982" args="" --> <a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateValidityChecker.html#af2c66e45895871b67a253db783df6982">si_</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The instance of space information this state validity checker operates on. <br/></td></tr> </table> <hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>Abstract definition for a class checking the validity of states. The implementation of this class must be thread safe. </p> <p>Definition at line <a class="el" href="StateValidityChecker_8h_source.html#l00060">60</a> of file <a class="el" href="StateValidityChecker_8h_source.html">StateValidityChecker.h</a>.</p> </div><hr/>The documentation for this class was generated from the following file:<ul> <li>src/ompl/base/<a class="el" href="StateValidityChecker_8h_source.html">StateValidityChecker.h</a></li> </ul> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:42 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>