ValidityChecker Class Reference

Class to check if new random state is valid or not. More...

#include <ompl_planning.hpp>

Inheritance diagram for ValidityChecker:

Collaboration diagram for ValidityChecker:

Public Member Functions
	ValidityChecker (const ob::SpaceInformationPtr &si, std::vector< Polygon > obstacle_list)
	Constructor. More...
bool	isValid (const ob::State *state) const override
	to check if state is valid of not More...

Public Attributes
std::vector< Polygon >	obstacles

Detailed Description

Class to check if new random state is valid or not.

Constructor & Destructor Documentation

ValidityChecker::ValidityChecker ( const ob::SpaceInformationPtr &  si, std::vector< Polygon >  obstacle_list  )

inline

Constructor.

Parameters

obstacle_list

Obstacle list that is obtained from map

Member Function Documentation

bool ValidityChecker::isValid ( const ob::State *  state ) const

inlineoverride

to check if state is valid of not

Check if new obatined state is inside the obstacle polygon, convert new state to boost point and also polygon to boost polygon and use boost::within() method to check the validity of state

Parameters

state

new state that is generated randomly by RRT Star algorithm

Returns

true/false based on the validity of state

Member Data Documentation

std::vector<Polygon> ValidityChecker::obstacles

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

• include/ompl_planning.hpp