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<title>OMPL Plannification: /home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/StateChecker.cpp Source File</title>
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<div class="title">StateChecker.cpp</div> </div>
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<a href="_state_checker_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="preprocessor">#include &quot;StateChecker.hpp&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c"> 11</a></span>&#160;<a class="code" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker::StateChecker</a>(<span class="keyword">const</span> ob::SpaceInformationPtr &amp;si): ob::StateValidityChecker(si)</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;{</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160; planningDimension = si-&gt;getStateDimension();</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;}</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f"> 16</a></span>&#160;<a class="code" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">StateChecker::~StateChecker</a>()</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;{</div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160; <span class="keywordflow">if</span>(_map !=<span class="keyword">nullptr</span>)</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160; {</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160; <span class="keyword">delete</span> _map;</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160; _map = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160; }</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160; </div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;}</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea"> 26</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker::loadMap</a>(<span class="keyword">const</span> std::string mapFile) <span class="comment">//Take a look to memory mangaement for map</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;{</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160; <span class="comment">/*</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="comment"> if(_map !=nullptr)</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="comment"> {</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="comment"> delete _map;</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="comment"> _map = nullptr;</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="comment"> }</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160; _map = (<span class="keyword">new</span> octomap::OcTree(mapFile));</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; _map_res = _map-&gt;
<div class="ttc" id="class_state_checker_html_af9db3b2571cf0294c07e81dd2b07eca9"><div class="ttname"><a href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">StateChecker::setDepthLimit</a></div><div class="ttdeci">void setDepthLimit(double depth_limit)</div><div class="ttdoc">Set the depth limit (constant for 2D checking) </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00059">StateChecker.cpp:59</a></div></div>
<div class="ttc" id="class_state_checker_html_a7fc1bee2971992901eed0517a8fffaa8"><div class="ttname"><a href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">StateChecker::setCollisionMask</a></div><div class="ttdeci">void setCollisionMask(double x, double y, double z=0.2)</div><div class="ttdoc">Set the area around every state considered for state checking. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00052">StateChecker.cpp:52</a></div></div>
<div class="ttc" id="class_state_checker_html_aa7454eae37b6fea9743cd26ddee94238"><div class="ttname"><a href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">StateChecker::isValid</a></div><div class="ttdeci">virtual bool isValid(const ob::State *state) const </div><div class="ttdoc">State validator. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00064">StateChecker.cpp:64</a></div></div>
<div class="ttc" id="class_state_checker_html_aa31f7a73b601d4c16a81ea256ab482ea"><div class="ttname"><a href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">StateChecker::loadMap</a></div><div class="ttdeci">void loadMap(const std::string mapFile)</div><div class="ttdoc">Load the octomap where the states are checked. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00026">StateChecker.cpp:26</a></div></div>
<div class="ttc" id="class_state_checker_html_abad123b62939fe4e3130cd9a3d0d051f"><div class="ttname"><a href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">StateChecker::~StateChecker</a></div><div class="ttdeci">~StateChecker()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8cpp_source.html#l00016">StateChecker.cpp:16</a></div></div>
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