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src/ompl/base/StateValidityChecker.h
00001 /*********************************************************************
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
00038 #define OMPL_BASE_STATE_VALIDITY_CHECKER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace base
00047     {
00048 
00050         ClassForward(SpaceInformation);
00052 
00054 
00055         ClassForward(StateValidityChecker);
00057 
00062         struct StateValidityCheckerSpecs
00063         {
00064             enum ClearanceComputationType
00065             {
00066                 NONE = 0,
00067                 EXACT,
00068                 APPROXIMATE,
00069                 BOUNDED_APPROXIMATE,
00070             };
00071 
00072             StateValidityCheckerSpecs(void) : clearanceComputationType(NONE), hasValidDirectionComputation(false)
00073             {
00074             }
00075 
00078             ClearanceComputationType clearanceComputationType;
00079 
00082             bool                     hasValidDirectionComputation;
00083         };
00084 
00088         class StateValidityChecker
00089         {
00090         public:
00091 
00093             StateValidityChecker(SpaceInformation* si) : si_(si)
00094             {
00095             }
00096 
00098             StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
00099             {
00100             }
00101 
00102             virtual ~StateValidityChecker(void)
00103             {
00104             }
00105 
00109             virtual bool isValid(const State *state) const = 0;
00110 
00112             virtual bool isValid(const State *state, double &dist) const
00113             {
00114                 dist = clearance(state);
00115                 return isValid(state);
00116             }
00117 
00122             virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
00123             {
00124                 dist = clearance(state, validState, validStateAvailable);
00125                 return isValid(state);
00126             }
00127 
00130             virtual double clearance(const State *state) const
00131             {
00132                 return 0.0;
00133             }
00134 
00138             virtual double clearance(const State *state, State *validState, bool &validStateAvailable) const
00139             {
00140                 validStateAvailable = false;
00141                 return clearance(state);
00142             }
00143 
00145             const StateValidityCheckerSpecs& getSpecs(void) const
00146             {
00147                 return specs_;
00148             }
00149 
00150         protected:
00151 
00153             SpaceInformation*         si_;
00154 
00156             StateValidityCheckerSpecs specs_;
00157 
00158         };
00159 
00161         class AllValidStateValidityChecker : public StateValidityChecker
00162         {
00163         public:
00164 
00166             AllValidStateValidityChecker(SpaceInformation* si) : StateValidityChecker(si)
00167             {
00168             }
00169 
00171             AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
00172             {
00173             }
00174 
00176             virtual bool isValid(const State * /* state */ ) const
00177             {
00178                 return true;
00179             }
00180         };
00181 
00182     }
00183 }
00184 
00185 #endif
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