46 virtual bool isKnown(
size_t tag)
const = 0;
91 #ifdef OMPL_LEMUR_HAS_BOOSTSMARTPTRS
92 typedef boost::shared_ptr<UtilityChecker> UtilityCheckerPtr;
94 typedef std::shared_ptr<UtilityChecker> UtilityCheckerPtr;
114 TAG_KNOWN_INVALID = 2
123 double check_cost=1.0);
126 double check_cost=1.0);
130 bool isKnown(
size_t tag)
const;
136 #ifdef OMPL_LEMUR_HAS_BOOSTSMARTPTRS
137 typedef boost::shared_ptr<BinaryUtilityChecker> BinaryUtilityCheckerPtr;
139 typedef std::shared_ptr<BinaryUtilityChecker> BinaryUtilityCheckerPtr;
double getPartialEvalCost(size_t tag, const ompl::base::State *state) const
Determines the optimistic planning cost entailed to call isValidPartialEval().
Definition: UtilityChecker.cpp:69
bool isValidPartialEval(size_t &tag, const ompl::base::State *state) const
Conduct the optimistic set of evaluations.
Definition: UtilityChecker.cpp:83
virtual double getPartialEvalCost(size_t tag, const ompl::base::State *state) const =0
Determines the optimistic planning cost entailed to call isValidPartialEval().
virtual bool isKnownInvalid(size_t tag) const =0
Determine whether a state with tag tag is known to be invalid.
virtual bool hasChanged()=0
Determine if the underlying utility model has changed since the last call to hasChanged().
bool isKnown(size_t tag) const
Determine whether a state with tag tag is known either valid or invalid.
Definition: UtilityChecker.cpp:41
virtual bool isKnown(size_t tag) const =0
Determine whether a state with tag tag is known either valid or invalid.
bool hasChanged()
Determine if the underlying utility model has changed since the last call to hasChanged().
Definition: UtilityChecker.cpp:34
virtual bool isValid(const ompl::base::State *state) const
Tag-ignorant validity check wrapper.
Definition: UtilityChecker.h:82
Adaptor to use a basic ompl::base::StateValidityChecker as a UtilityChecker.
Definition: UtilityChecker.h:106
Type of state validity checker which enables partial evaluation of tagged states. ...
Definition: UtilityChecker.h:15
bool isKnownInvalid(size_t tag) const
Determine whether a state with tag tag is known to be invalid.
Definition: UtilityChecker.cpp:55
virtual bool isValidPartialEval(size_t &tag, const ompl::base::State *state) const =0
Conduct the optimistic set of evaluations.