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| KinematicChainValidityChecker (const ompl::base::SpaceInformationPtr &si) |
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bool | isValid (const ompl::base::State *state) const override |
| Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds(). More...
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| StateValidityChecker (SpaceInformation *si) |
| Constructor. More...
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| StateValidityChecker (const SpaceInformationPtr &si) |
| Constructor. More...
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virtual bool | isValid (const State *state) const =0 |
| Return true if the state state is valid. Usually, this means at least collision checking. If it is possible that ompl::base::StateSpace::interpolate() or ompl::control::ControlSpace::propagate() return states that are outside of bounds, this function should also make a call to ompl::base::SpaceInformation::satisfiesBounds(). More...
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virtual bool | isValid (const State *state, double &dist) const |
| Return true if the state state is valid. In addition, set dist to the distance to the nearest invalid state. More...
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virtual bool | isValid (const State *state, double &dist, State *validState, bool &validStateAvailable) const |
| Return true if the state state is valid. In addition, set dist to the distance to the nearest invalid state (using clearance()). If a direction that moves state away from being invalid is available, a valid state in that direction is also set (validState). validStateAvailable is set to true if validState is updated. More...
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virtual double | clearance (const State *) const |
| Report the distance to the nearest invalid state when starting from state. If the distance is negative, the value of clearance is the penetration depth. More...
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virtual double | clearance (const State *state, State *, bool &validStateAvailable) const |
| Report the distance to the nearest invalid state when starting from state, and if possible, also specify a valid state validState in the direction that moves away from the colliding state. The validStateAvailable flag is set to true if validState is updated. More...
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const StateValidityCheckerSpecs & | getSpecs () const |
| Return the specifications (capabilities of this state validity checker) More...
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Definition at line 193 of file KinematicChain.h.