TypedStateValidityChecker.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2015, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Neil T. Dantam */
36
37#ifndef OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
38#define OMPL_BASE_TYPED_STATE_VALIDITY_CHECKER_
39
40#include "ompl/base/SpaceInformation.h"
41#include "ompl/base/StateValidityChecker.h"
42#include "ompl/base/TypedSpaceInformation.h"
43
44namespace ompl
45{
46 namespace base
47 {
48 template <typename SpaceType_>
50 {
51 public:
52 using SpaceType = SpaceType_;
54
56 {
57 }
58
60 {
61 }
62
63 SpaceInformationType *getTypedSpaceInformation() const
64 {
65 return static_cast<SpaceInformationType *>(si_);
66 }
67
68 SpaceType *getTypedStateSpace() const
69 {
70 return getTypedSpaceInformation()->getTypedStateSpace();
71 }
72
73 static typename SpaceType::StateType *state_as(State *s)
74 {
75 return SpaceInformationType::state_as(s);
76 }
77
78 static const typename SpaceType::StateType *state_as(const State *s)
79 {
80 return SpaceInformationType::state_as(s);
81 }
82 };
83 }
84}
85#endif
Abstract definition for a class checking the validity of states. The implementation of this class mus...
StateValidityChecker(SpaceInformation *si)
Constructor.
SpaceInformation * si_
The instance of space information this state validity checker operates on.
Definition of an abstract state.
Definition: State.h:50
const SpaceType * getTypedStateSpace() const
std::shared_ptr< TypedSpaceInformation< SpaceType > > Ptr
Main namespace. Contains everything in this library.