37 #include "ompl/extensions/opende/OpenDEStateValidityChecker.h"
38 #include "ompl/util/Exception.h"
42 if (!dynamic_cast<OpenDEStateSpace*>(si->getStateSpace().get()))
43 throw Exception(
"Cannot create state validity checking for OpenDE without OpenDE state space");
58 if (!osm_->evaluateCollision(state))
59 valid = osm_->satisfiesBoundsExceptRotation(s);
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.
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.
The exception type for ompl.
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.