ompl/base/StateValidityChecker.h
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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         OMPL_CLASS_FORWARD(SpaceInformation);
00052 
00054 
00055         OMPL_CLASS_FORWARD(StateValidityChecker);
00057 
00062         struct StateValidityCheckerSpecs
00063         {
00065             enum ClearanceComputationType
00066             {
00068                 NONE = 0,
00070                 EXACT,
00072                 APPROXIMATE,
00074                 BOUNDED_APPROXIMATE,
00075             };
00076 
00077             StateValidityCheckerSpecs() : clearanceComputationType(NONE), hasValidDirectionComputation(false)
00078             {
00079             }
00080 
00083             ClearanceComputationType clearanceComputationType;
00084 
00087             bool                     hasValidDirectionComputation;
00088         };
00089 
00093         class StateValidityChecker
00094         {
00095         public:
00096 
00098             StateValidityChecker(SpaceInformation *si) : si_(si)
00099             {
00100             }
00101 
00103             StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
00104             {
00105             }
00106 
00107             virtual ~StateValidityChecker()
00108             {
00109             }
00110 
00114             virtual bool isValid(const State *state) const = 0;
00115 
00117             virtual bool isValid(const State *state, double &dist) const
00118             {
00119                 dist = clearance(state);
00120                 return isValid(state);
00121             }
00122 
00127             virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
00128             {
00129                 dist = clearance(state, validState, validStateAvailable);
00130                 return isValid(state);
00131             }
00132 
00135             virtual double clearance(const State* /*state*/) const
00136             {
00137                 return 0.0;
00138             }
00139 
00143             virtual double clearance(const State *state, State* /*validState*/, bool &validStateAvailable) const
00144             {
00145                 validStateAvailable = false;
00146                 return clearance(state);
00147             }
00148 
00150             const StateValidityCheckerSpecs& getSpecs() const
00151             {
00152                 return specs_;
00153             }
00154 
00155         protected:
00156 
00158             SpaceInformation         *si_;
00159 
00161             StateValidityCheckerSpecs specs_;
00162 
00163         };
00164 
00166         class AllValidStateValidityChecker : public StateValidityChecker
00167         {
00168         public:
00169 
00171             AllValidStateValidityChecker(SpaceInformation *si) : StateValidityChecker(si)
00172             {
00173             }
00174 
00176             AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
00177             {
00178             }
00179 
00181             virtual bool isValid(const State * /* state */ ) const
00182             {
00183                 return true;
00184             }
00185         };
00186 
00187     }
00188 }
00189 
00190 #endif
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