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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         ClassForward(SpaceInformation);
00052 
00054 
00055         ClassForward(StateValidityChecker);
00057 
00064         class StateValidityChecker
00065         {
00066         public:
00067 
00069             StateValidityChecker(SpaceInformation* si) : si_(si)
00070             {
00071             }
00072 
00074             StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
00075             {
00076             }
00077 
00078             virtual ~StateValidityChecker(void)
00079             {
00080             }
00081 
00085             virtual bool isValid(const State *state) const = 0;
00086 
00088             virtual bool isValid(const State *state, double &dist) const
00089             {
00090                 dist = clearance(state);
00091                 return isValid(state);
00092             }
00093 
00097             virtual bool isValid(const State *state, double &dist, State *gradient, bool &gradientAvailable) const
00098             {
00099                 dist = clearance(state, gradient, gradientAvailable);
00100                 return isValid(state);
00101             }
00102 
00105             virtual double clearance(const State *state) const
00106             {
00107                 return 0.0;
00108             }
00109 
00113             virtual double clearance(const State *state, State *gradient, bool &gradientAvailable) const
00114             {
00115                 gradientAvailable = false;
00116                 return clearance(state);
00117             }
00118 
00119         protected:
00120 
00122             SpaceInformation *si_;
00123 
00124         };
00125 
00127         class AllValidStateValidityChecker : public StateValidityChecker
00128         {
00129         public:
00130 
00132             AllValidStateValidityChecker(SpaceInformation* si) : StateValidityChecker(si)
00133             {
00134             }
00135 
00137             AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
00138             {
00139             }
00140 
00142             virtual bool isValid(const State * /* state */ ) const
00143             {
00144                 return true;
00145             }
00146         };
00147 
00148     }
00149 }
00150 
00151 #endif