.. _program_listing_file_src_ompl_base_StateValidityChecker.h:

Program Listing for File StateValidityChecker.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_StateValidityChecker.h>` (``src/ompl/base/StateValidityChecker.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_BASE_STATE_VALIDITY_CHECKER_
   #define OMPL_BASE_STATE_VALIDITY_CHECKER_
   
   #include "ompl/base/State.h"
   #include "ompl/util/ClassForward.h"
   
   namespace ompl
   {
       namespace base
       {
           OMPL_CLASS_FORWARD(SpaceInformation);
   
   
           OMPL_CLASS_FORWARD(StateValidityChecker);
   
           struct StateValidityCheckerSpecs
           {
               enum ClearanceComputationType
               {
                   NONE = 0,
                   EXACT,
                   APPROXIMATE,
                   BOUNDED_APPROXIMATE,
               };
   
               StateValidityCheckerSpecs() = default;
   
               ClearanceComputationType clearanceComputationType{NONE};
   
               bool hasValidDirectionComputation{false};
           };
   
           class StateValidityChecker
           {
           public:
               StateValidityChecker(SpaceInformation *si) : si_(si)
               {
               }
   
               StateValidityChecker(const SpaceInformationPtr &si) : si_(si.get())
               {
               }
   
               virtual ~StateValidityChecker() = default;
   
               virtual bool isValid(const State *state) const = 0;
   
               virtual bool isValid(const State *state, double &dist) const
               {
                   dist = clearance(state);
                   return isValid(state);
               }
   
               virtual bool isValid(const State *state, double &dist, State *validState, bool &validStateAvailable) const
               {
                   dist = clearance(state, validState, validStateAvailable);
                   return isValid(state);
               }
   
               virtual double clearance(const State * /*state*/) const
               {
                   return 0.0;
               }
   
               virtual double clearance(const State *state, State * /*validState*/, bool &validStateAvailable) const
               {
                   validStateAvailable = false;
                   return clearance(state);
               }
   
               const StateValidityCheckerSpecs &getSpecs() const
               {
                   return specs_;
               }
   
               virtual bool operator ==(const StateValidityChecker&) const
               {
                 return false;
               }
               bool operator !=(const StateValidityChecker &rhs) const
               {
                 return !(*this == rhs);
               }
   
   
           protected:
               SpaceInformation *si_;
   
               StateValidityCheckerSpecs specs_;
           };
   
           class AllValidStateValidityChecker : public StateValidityChecker
           {
           public:
               AllValidStateValidityChecker(SpaceInformation *si) : StateValidityChecker(si)
               {
               }
   
               AllValidStateValidityChecker(const SpaceInformationPtr &si) : StateValidityChecker(si)
               {
               }
   
               bool isValid(const State * /* state */) const override
               {
                   return true;
               }
           };
       }
   }
   
   #endif