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ODEStateValidityChecker.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/extensions/ode/ODEStateValidityChecker.h"
00038 #include "ompl/util/Exception.h"
00039 
00040 ompl::control::ODEStateValidityChecker::ODEStateValidityChecker(const SpaceInformationPtr &si) : base::StateValidityChecker(si)
00041 {
00042     if (!dynamic_cast<ODEStateSpace*>(si->getStateSpace().get()))
00043         throw Exception("Cannot create state validity checking for ODE without ODE state space");
00044     osm_ = si->getStateSpace()->as<ODEStateSpace>();
00045 }
00046 
00047 bool ompl::control::ODEStateValidityChecker::isValid(const base::State *state) const
00048 {
00049     const ODEStateSpace::StateType *s = state->as<ODEStateSpace::StateType>();
00050 
00051     // if we know the value of the validity flag for this state, we return it
00052     if (s->collision & (1 << ODEStateSpace::STATE_VALIDITY_KNOWN_BIT))
00053         return s->collision & (1 << ODEStateSpace::STATE_VALIDITY_VALUE_BIT);
00054 
00055     // if not, we compute it:
00056     bool valid = false;
00057 
00058     if (!osm_->evaluateCollision(state))
00059         valid = osm_->satisfiesBoundsExceptRotation(s);
00060 
00061     if (valid)
00062         s->collision &= (1 << ODEStateSpace::STATE_VALIDITY_VALUE_BIT);
00063 
00064     // mark the fact we know the value of the validity bit
00065     s->collision &= (1 << ODEStateSpace::STATE_VALIDITY_KNOWN_BIT);
00066 
00067     return valid;
00068 }