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OpenDEStateValidityChecker.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
38 #include "ompl/util/Exception.h"
39 
41 {
42  if (!dynamic_cast<OpenDEStateSpace*>(si->getStateSpace().get()))
43  throw Exception("Cannot create state validity checking for OpenDE without OpenDE state space");
44  osm_ = si->getStateSpace()->as<OpenDEStateSpace>();
45 }
46 
48 {
50 
51  // if we know the value of the validity flag for this state, we return it
54 
55  // if not, we compute it:
56  bool valid = false;
57 
58  if (!osm_->evaluateCollision(state))
59  valid = osm_->satisfiesBoundsExceptRotation(s);
60 
61  if (valid)
63 
64  // mark the fact we know the value of the validity bit
66 
67  return valid;
68 }
Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value ...
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state s...
OpenDEStateSpace * osm_
The corresponding OpenDE state space.
const T * as(void) const
Cast this instance to a desired type.
Definition: State.h:74
State space representing OpenDE states.
Index of bit in StateType::collision indicating whether it is known if a state is in valid or not...
OpenDEStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
Definition of an abstract state.
Definition: State.h:50
A boost shared pointer wrapper for ompl::control::SpaceInformation.
The exception type for ompl.
Definition: Exception.h:47
virtual bool isValid(const base::State *state) const
A state is considered valid if it is within bounds and not in collision.
int collision
Flag containing information about state validity.