validity.h

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/* Author: Zachary Kingston */

#ifndef SE2EZ_PLAN_VALIDITY_
#define SE2EZ_PLAN_VALIDITY_

#include <ompl/base/StateValidityChecker.h>

#include <se2ez/core/class_forward.h>

namespace se2ez
{
    /** \cond IGNORE */
    SE2EZ_CLASS_FORWARD(Robot)
    SE2EZ_CLASS_FORWARD(CollisionManager)
    /** \endcond */

    namespace plan
    {
        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(ValidityChecker)
        /** \endcond */

        class ValidityChecker : public ompl::base::StateValidityChecker
        {
        public:
            ValidityChecker(const ompl::base::SpaceInformationPtr &si, CollisionManagerPtr cm);

            bool isValid(const ompl::base::State *state) const override;
            bool isValid(const ompl::base::State *state, double &dist) const override;
            double clearance(const ompl::base::State *state) const override;

            CollisionManagerPtr getCM();

        private:
            CollisionManagerPtr cm_;
        };

        /** \cond IGNORE */
        SE2EZ_CLASS_FORWARD(WrappedValidityChecker)
        /** \endcond */

        class WrappedValidityChecker : public ValidityChecker
        {
        public:
            WrappedValidityChecker(const ompl::base::SpaceInformationPtr &si, CollisionManagerPtr cm);

            bool isValid(const ompl::base::State *state) const override;
            bool isValid(const ompl::base::State *state, double &dist) const override;
            double clearance(const ompl::base::State *state) const override;
        };
    }  // namespace plan
}  // namespace se2ez

#endif