00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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