Adaptor to use a basic ompl::base::StateValidityChecker as a UtilityChecker. More...
#include <UtilityChecker.h>
Public Types | |
enum | { TAG_UNKNOWN = 0, TAG_KNOWN_VALID = 1, TAG_KNOWN_INVALID = 2 } |
Public Member Functions | |
BinaryUtilityChecker (ompl::base::SpaceInformation *si, ompl::base::StateValidityCheckerPtr wrapped, double check_cost=1.0) | |
BinaryUtilityChecker (const ompl::base::SpaceInformationPtr &si, ompl::base::StateValidityCheckerPtr wrapped, double check_cost=1.0) | |
bool | hasChanged () |
Determine if the underlying utility model has changed since the last call to hasChanged(). More... | |
bool | isKnown (size_t tag) const |
Determine whether a state with tag tag is known either valid or invalid. More... | |
bool | isKnownInvalid (size_t tag) const |
Determine whether a state with tag tag is known to be invalid. More... | |
double | getPartialEvalCost (size_t tag, const ompl::base::State *state) const |
Determines the optimistic planning cost entailed to call isValidPartialEval(). More... | |
bool | isValidPartialEval (size_t &tag, const ompl::base::State *state) const |
Conduct the optimistic set of evaluations. More... | |
Public Member Functions inherited from ompl_lemur::UtilityChecker | |
UtilityChecker (ompl::base::SpaceInformation *si) | |
UtilityChecker (const ompl::base::SpaceInformationPtr &si) | |
virtual bool | isValid (const ompl::base::State *state) const |
Tag-ignorant validity check wrapper. More... | |
Public Member Functions inherited from ompl::base::StateValidityChecker | |
StateValidityChecker (SpaceInformation *si) | |
StateValidityChecker (const SpaceInformationPtr &si) | |
virtual bool | isValid (const State *state, double &dist) const |
virtual bool | isValid (const State *state, double &dist, State *validState, bool &validStateAvailable) const |
virtual double | clearance (const State *) const |
virtual double | clearance (const State *state, State *, bool &validStateAvailable) const |
const StateValidityCheckerSpecs & | getSpecs () const |
Public Attributes | |
bool | _has_changed |
ompl::base::StateValidityCheckerPtr | _wrapped |
double | _check_cost |
Additional Inherited Members | |
Protected Attributes inherited from ompl::base::StateValidityChecker | |
SpaceInformation * | si_ |
StateValidityCheckerSpecs | specs_ |
Adaptor to use a basic ompl::base::StateValidityChecker as a UtilityChecker.
This assumes that each check is constant planning cost, which defaults to 1.0.
This used to be called SimpleEffortModel
.
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virtual |
Determines the optimistic planning cost entailed to call isValidPartialEval().
This is optimistic (if everything goes right for next call to isValidPartialEval())
Was EffortModel::p_hat()
.
Implements ompl_lemur::UtilityChecker.
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virtual |
Determine if the underlying utility model has changed since the last call to hasChanged().
If true, planner must recalculate wlazy for all edges.
Was EffortModel::has_changed()
.
Implements ompl_lemur::UtilityChecker.
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virtual |
Determine whether a state with tag tag
is known either valid or invalid.
Was EffortModel::is_evaled()
.
Implements ompl_lemur::UtilityChecker.
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virtual |
Determine whether a state with tag tag
is known to be invalid.
Was EffortModel::x_hat()
.
Implements ompl_lemur::UtilityChecker.
|
virtual |
Conduct the optimistic set of evaluations.
Returns true if everything went as planned (so that target is T!).
If false, not necessary known invalid!
This updates the tag
argument.
Was EffortModel::eval_partial()
.
Implements ompl_lemur::UtilityChecker.