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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.hpp Source File</title>
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<div class="title">StateChecker.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <string></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">using namespace </span><a class="code" href="namespacestd.html">std</a>;</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">//OCTOMAP//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <octomap/octomap.h></span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> </div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">using namespace </span><a class="code" href="namespaceoctomap.html">octomap</a>;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">//OMPL//</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <ompl/config.h></span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <ompl/base/SpaceInformation.h></span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <ompl/base/spaces/RealVectorStateSpace.h></span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">namespace </span>ob = ompl::base;</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="struct_checking___box.html"> 29</a></span> <span class="keyword">struct </span><a class="code" href="struct_checking___box.html">Checking_Box</a></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> {</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordtype">double</span> x;</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">double</span> y;</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">double</span> z;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> };</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_state_checker.html"> 41</a></span> <span class="keyword">class </span><a class="code" href="class_state_checker.html">StateChecker</a> : <span class="keyword">public</span> ob::StateValidityChecker</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> {</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="class_state_checker.html">StateChecker</a>(<span class="keyword">const</span> ob::SpaceInformationPtr &si);</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">void</span> loadMap(<span class="keyword">const</span> std::string mapFile);</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordtype">void</span> loadMap(octomap::OcTree* octree);</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">void</span> setCollisionMask(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z = 0.2);</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">void</span> setDepthLimit(<span class="keywordtype">double</span> depth_limit);</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isValid(<span class="keyword">const</span> ob::State *state) <span class="keyword">const</span>;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  ~<a class="code" href="class_state_checker.html">StateChecker</a>();</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">private</span> :</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordtype">int</span> planningDimension; </div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">//Octomap</span></div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  octomap::OcTree* _map = <span class="keyword">nullptr</span>; </div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">double</span> _map_res, _depth_limit;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="struct_checking___box.html">Checking_Box</a> _check_box; </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> };</div><div class="ttc" id="class_state_checker_html"><div class="ttname"><a href="class_state_checker.html">StateChecker</a></div><div class="ttdoc">Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the...</div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00041">StateChecker.hpp:41</a></div></div>
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<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
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<div class="ttc" id="struct_checking___box_html"><div class="ttname"><a href="struct_checking___box.html">Checking_Box</a></div><div class="ttdoc">Collision Mask : virtual representation of the drone as a box with x,y,z length. </div><div class="ttdef"><b>Definition:</b> <a href="_state_checker_8hpp_source.html#l00029">StateChecker.hpp:29</a></div></div>
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