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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 
00049         ClassForward(SpaceInformation);
00050 
00052         ClassForward(StateValidityChecker);
00053 
00060         class StateValidityChecker
00061         {
00062         public:
00063 
00065             StateValidityChecker(SpaceInformation* si) : si_(si)
00066             {
00067             }
00068 
00070             StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
00071             {
00072             }
00073 
00074             virtual ~StateValidityChecker(void)
00075             {
00076             }
00077 
00081             virtual bool isValid(const State *state) const = 0;
00082 
00084             virtual bool isValid(const State *state, double &dist) const
00085             {
00086                 dist = clearance(state);
00087                 return isValid(state);
00088             }
00089 
00093             virtual bool isValid(const State *state, double &dist, State *gradient, bool &gradientAvailable) const
00094             {
00095                 dist = clearance(state, gradient, gradientAvailable);
00096                 return isValid(state);
00097             }
00098 
00101             virtual double clearance(const State *state) const
00102             {
00103                 return 0.0;
00104             }
00105 
00109             virtual double clearance(const State *state, State *gradient, bool &gradientAvailable) const
00110             {
00111                 gradientAvailable = false;
00112                 return clearance(state);
00113             }
00114 
00115         protected:
00116 
00118             SpaceInformation *si_;
00119 
00120         };
00121 
00123         class AllValidStateValidityChecker : public StateValidityChecker
00124         {
00125         public:
00126 
00128             AllValidStateValidityChecker(SpaceInformation* si) : StateValidityChecker(si)
00129             {
00130             }
00131 
00133             AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
00134             {
00135             }
00136 
00138             virtual bool isValid(const State * /* state */ ) const
00139             {
00140                 return true;
00141             }
00142         };
00143 
00144     }
00145 }
00146 
00147 #endif