aikido::planner::ompl::StateValidityChecker Class Reference
Expose a set of aikido::constraint::Testable class as a StateValidityChecker to the OMPL framework. More...
#include <aikido/planner/ompl/StateValidityChecker.hpp>
Inheritance diagram for aikido::planner::ompl::StateValidityChecker:
Public Member Functions | |
| StateValidityChecker (const ::ompl::base::SpaceInformationPtr &_si, constraint::TestablePtr _constraint) | |
| Constructor. More... | |
| bool | isValid (const ::ompl::base::State *_state) const override |
| Return true if all constraints defined on this ValidityChecker are satisfied. More... | |
Private Attributes | |
| constraint::TestablePtr | mConstraint |
Detailed Description
Expose a set of aikido::constraint::Testable class as a StateValidityChecker to the OMPL framework.
This checker will mark a state valid if all constraints defined within the class are valid for the state.
Constructor & Destructor Documentation
◆ StateValidityChecker()
| aikido::planner::ompl::StateValidityChecker::StateValidityChecker | ( | const ::ompl::base::SpaceInformationPtr & | _si, |
| constraint::TestablePtr | _constraint | ||
| ) |
Constructor.
- Parameters
-
_si Information about the planning space where this ValidityChecker will be used _constraint The constraint that must pass for a state to be marked valid
Member Function Documentation
◆ isValid()
|
override |
Return true if all constraints defined on this ValidityChecker are satisfied.
- Parameters
-
_state The state to check
Member Data Documentation
◆ mConstraint
|
private |
