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<div id="projectname">OMPL Plannification
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<div id="projectbrief">Path planning with OMPL</div>
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<p>Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?).
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<a href="class_state_checker.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>></code></p>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ab6848e593de676961143a42df192ab7c"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#ab6848e593de676961143a42df192ab7c">StateChecker</a> (const ob::SpaceInformationPtr &si)</td></tr>
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<tr class="memdesc:ab6848e593de676961143a42df192ab7c"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ab6848e593de676961143a42df192ab7c">More...</a><br /></td></tr>
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<tr class="separator:ab6848e593de676961143a42df192ab7c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa31f7a73b601d4c16a81ea256ab482ea"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa31f7a73b601d4c16a81ea256ab482ea"></a>
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void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#aa31f7a73b601d4c16a81ea256ab482ea">loadMap</a> (const std::string mapFile)</td></tr>
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<tr class="memdesc:aa31f7a73b601d4c16a81ea256ab482ea"><td class="mdescLeft"> </td><td class="mdescRight">Load the octomap where the states are checked. <br /></td></tr>
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<tr class="separator:aa31f7a73b601d4c16a81ea256ab482ea"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aca03069f9a0bd28ba7a2bf299cb9d3e6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aca03069f9a0bd28ba7a2bf299cb9d3e6"></a>
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void </td><td class="memItemRight" valign="bottom"><b>loadMap</b> (octomap::OcTree *octree)</td></tr>
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<tr class="memitem:a7fc1bee2971992901eed0517a8fffaa8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7fc1bee2971992901eed0517a8fffaa8"></a>
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void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#a7fc1bee2971992901eed0517a8fffaa8">setCollisionMask</a> (double x, double y, double z=0.2)</td></tr>
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<tr class="memdesc:a7fc1bee2971992901eed0517a8fffaa8"><td class="mdescLeft"> </td><td class="mdescRight">Set the area around every state considered for state checking. <br /></td></tr>
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<tr class="separator:a7fc1bee2971992901eed0517a8fffaa8"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af9db3b2571cf0294c07e81dd2b07eca9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#af9db3b2571cf0294c07e81dd2b07eca9">setDepthLimit</a> (double depth_limit)</td></tr>
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<tr class="memdesc:af9db3b2571cf0294c07e81dd2b07eca9"><td class="mdescLeft"> </td><td class="mdescRight">Set the depth limit (constant for 2D checking) <a href="#af9db3b2571cf0294c07e81dd2b07eca9">More...</a><br /></td></tr>
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<tr class="separator:af9db3b2571cf0294c07e81dd2b07eca9"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa7454eae37b6fea9743cd26ddee94238"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#aa7454eae37b6fea9743cd26ddee94238">isValid</a> (const ob::State *state) const </td></tr>
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<tr class="memdesc:aa7454eae37b6fea9743cd26ddee94238"><td class="mdescLeft"> </td><td class="mdescRight">State validator. <a href="#aa7454eae37b6fea9743cd26ddee94238">More...</a><br /></td></tr>
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<tr class="memitem:abad123b62939fe4e3130cd9a3d0d051f"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="class_state_checker.html#abad123b62939fe4e3130cd9a3d0d051f">~StateChecker</a> ()</td></tr>
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<tr class="memdesc:abad123b62939fe4e3130cd9a3d0d051f"><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#abad123b62939fe4e3130cd9a3d0d051f">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>Class for state checking for 2D and 3D planning. Extension of an abstract class used to implement the state validity checker over an octomap (using FCL ?). </p>
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<p>Definition at line <a class="el" href="_state_checker_8hpp_source.html#l00041">41</a> of file <a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a>.</p>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<td class="memname">StateChecker::StateChecker </td>
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<td>(</td>
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<td class="paramtype">const ob::SpaceInformationPtr & </td>
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<td class="paramname"><em>si</em></td><td>)</td>
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<p>Constructor. </p>
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<p>Call the StateValidityChecker constructor from OMPL library and set checking dimension. </p>
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<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00011">11</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
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<td class="memname">StateChecker::~StateChecker </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<p>Destructor. </p>
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<p>Free dynamicly allowed data. </p>
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<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00016">16</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<td class="memname">bool StateChecker::isValid </td>
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<td>(</td>
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<td class="paramtype">const ob::State * </td>
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<td class="paramname"><em>state</em></td><td>)</td>
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<td> const</td>
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<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
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<p>State validator. </p>
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<p>Function that verifies if the given state is valid (i.e. is free of collision) using FCL. </p>
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<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00064">64</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
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<td class="memname">void StateChecker::setDepthLimit </td>
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<td>(</td>
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<td class="paramtype">double </td>
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<td class="paramname"><em>depth_limit</em></td><td>)</td>
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<p>Set the depth limit (constant for 2D checking) </p>
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<p>Set the lowest altitude for checking (constant depth for 2D checking). Used to prevent unwanted invalid state (Issue with the ground in Octomap) </p>
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<p>Definition at line <a class="el" href="_state_checker_8cpp_source.html#l00059">59</a> of file <a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
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<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8hpp_source.html">StateChecker.hpp</a></li>
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<li>/home/blue/GitLab Repo/OMPL_Planning/Source Files/mapping_planning_tutorial/control_turtlebot/src/OMPL_Planning/OMPL_Planner/<a class="el" href="_state_checker_8cpp_source.html">StateChecker.cpp</a></li>
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