aikido::planner::ompl::MotionValidator Class Reference
Implement an OMPL MotionValidator. More...
#include <aikido/planner/ompl/MotionValidator.hpp>
Inheritance diagram for aikido::planner::ompl::MotionValidator:
Public Member Functions | |
| MotionValidator (const ::ompl::base::SpaceInformationPtr &_si, double _maxDistBtwValidityChecks) | |
| Constructor. More... | |
| bool | checkMotion (const ::ompl::base::State *_s1, const ::ompl::base::State *_s2) const override |
| Check if the path between two states, _s1 and _s2, is valid. More... | |
| bool | checkMotion (const ::ompl::base::State *_s1, const ::ompl::base::State *_s2, std::pair<::ompl::base::State *, double > &_lastValid) const override |
Private Attributes | |
| double | mSequenceResolution |
Detailed Description
Implement an OMPL MotionValidator.
This class checks the validity of path segments between states.
Constructor & Destructor Documentation
◆ MotionValidator()
| aikido::planner::ompl::MotionValidator::MotionValidator | ( | const ::ompl::base::SpaceInformationPtr & | _si, |
| double | _maxDistBtwValidityChecks | ||
| ) |
Constructor.
- Parameters
-
_si The SpaceInformation describing the planning space where this MotionValidator will be used _maxDistBtwValidityChecks The maximum distance (under the distance metric defined on the planning StateSpace) between two points on the segment checked for validity
Member Function Documentation
◆ checkMotion() [1/2]
|
override |
Check if the path between two states, _s1 and _s2, is valid.
This function assumes _s1 is valid.
- Parameters
-
_s1 The state at the start of the segment _s2 The state at the end of the segment
◆ checkMotion() [2/2]
|
override |
- Parameters
-
_s1 The state at the start of the segment _s2 The state at the end of the segment [out] _lastValid The last valid state on the segment and the segment time of that state (between 0 and 1)
Member Data Documentation
◆ mSequenceResolution
|
private |
