Type of state validity checker which enables partial evaluation of tagged states. More...

#include <UtilityChecker.h>

Inheritance diagram for ompl_lemur::UtilityChecker:

Public Member Functions
	UtilityChecker (ompl::base::SpaceInformation *si)

	UtilityChecker (const ompl::base::SpaceInformationPtr &si)

virtual bool	hasChanged ()=0
	Determine if the underlying utility model has changed since the last call to hasChanged(). More...

virtual bool	isKnown (size_t tag) const =0
	Determine whether a state with tag `tag` is known either valid or invalid. More...

virtual bool	isKnownInvalid (size_t tag) const =0
	Determine whether a state with tag `tag` is known to be invalid. More...

virtual double	getPartialEvalCost (size_t tag, const ompl::base::State *state) const =0
	Determines the optimistic planning cost entailed to call isValidPartialEval(). More...

virtual bool	isValidPartialEval (size_t &tag, const ompl::base::State *state) const =0
	Conduct the optimistic set of evaluations. More...

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

Additional Inherited Members
Protected Attributes inherited from ompl::base::StateValidityChecker
SpaceInformation *	si_

StateValidityCheckerSpecs	specs_

Detailed Description

Type of state validity checker which enables partial evaluation of tagged states.

This used to be called EffortModel.

Member Function Documentation

virtual double ompl_lemur::UtilityChecker::getPartialEvalCost	(	size_t	tag,
		const ompl::base::State *	state
	)		const

pure 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().

Implemented in ompl_lemur::BinaryUtilityChecker, and ompl_lemur::FamilyUtilityChecker.

virtual bool ompl_lemur::UtilityChecker::hasChanged ( )

pure 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().

Implemented in ompl_lemur::BinaryUtilityChecker, and ompl_lemur::FamilyUtilityChecker.

virtual bool ompl_lemur::UtilityChecker::isKnown ( size_t tag ) const

pure virtual

Determine whether a state with tag tag is known either valid or invalid.

Was EffortModel::is_evaled().

Implemented in ompl_lemur::BinaryUtilityChecker, and ompl_lemur::FamilyUtilityChecker.

virtual bool ompl_lemur::UtilityChecker::isKnownInvalid ( size_t tag ) const

pure virtual

Determine whether a state with tag tag is known to be invalid.

Was EffortModel::x_hat().

Implemented in ompl_lemur::BinaryUtilityChecker, and ompl_lemur::FamilyUtilityChecker.

virtual bool ompl_lemur::UtilityChecker::isValid ( const ompl::base::State * state ) const

inlinevirtual

Tag-ignorant validity check wrapper.

Users of UtilityChecker will usually not call this, because they want to take advantage of the tag mechanism instead.

Implements ompl::base::StateValidityChecker.

virtual bool ompl_lemur::UtilityChecker::isValidPartialEval	(	size_t &	tag,
		const ompl::base::State *	state
	)		const

pure 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().

Implemented in ompl_lemur::BinaryUtilityChecker, and ompl_lemur::FamilyUtilityChecker.

The documentation for this class was generated from the following file:

ompl_lemur/include/ompl_lemur/UtilityChecker.h

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation