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OpenDEStateValidityChecker.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/extensions/ode/OpenDEStateValidityChecker.h"
38#include "ompl/util/Exception.h"
39
41 : base::StateValidityChecker(si)
42{
43 if (dynamic_cast<OpenDEStateSpace *>(si->getStateSpace().get()) == nullptr)
44 throw Exception("Cannot create state validity checking for OpenDE without OpenDE state space");
45 osm_ = si->getStateSpace()->as<OpenDEStateSpace>();
46}
47
49{
50 const auto *s = state->as<OpenDEStateSpace::StateType>();
51
52 // if we know the value of the validity flag for this state, we return it
53 if ((s->collision & (1 << OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT)) != 0)
54 return (s->collision & (1 << OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT)) != 0;
55
56 // if not, we compute it:
57 bool valid = false;
58
59 if (!osm_->evaluateCollision(state))
60 valid = osm_->satisfiesBoundsExceptRotation(s);
61
62 if (valid)
63 s->collision &= (1 << OpenDEStateSpace::STATE_VALIDITY_VALUE_BIT);
64
65 // mark the fact we know the value of the validity bit
66 s->collision &= (1 << OpenDEStateSpace::STATE_VALIDITY_KNOWN_BIT);
67
68 return valid;
69}
The exception type for ompl.
Definition: Exception.h:47
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition: State.h:50
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state s...
State space representing OpenDE states.
@ STATE_VALIDITY_VALUE_BIT
Index of bit in StateType::collision indicating whether a state is valid or not. Initially the value ...
@ STATE_VALIDITY_KNOWN_BIT
Index of bit in StateType::collision indicating whether it is known if a state is in valid or not....
bool isValid(const base::State *state) const override
A state is considered valid if it is within bounds and not in collision.
OpenDEStateValidityChecker(const SpaceInformationPtr &si)
Constructor.
OpenDEStateSpace * osm_
The corresponding OpenDE state space.