motion_validator

Custom motion validator class which checks the slope of motion between two states.

namespace slope_constrained_planner
class SlopeConstrainedMotionValidator : public MotionValidator
#include <motion_validator.h>

Custom motion validator class which checks the slope of motion between two states.

Public Functions

SlopeConstrainedMotionValidator(const ob::SpaceInformationPtr &si, const ParamsConstPtr &params)

Constructor.

Parameters:

si – space information of the state space

bool checkMotion(const ob::State *s1, const ob::State *s2) const override

Checks the slope of the motion using the first and second states position, if the slope is below the threshold, it returns true otherwise it would return false.

Parameters:

  • s1 – First state in the motion

  • s2 – Second state in the motion

Returns:

validity of motion

bool checkMotion(const ob::State *s1, const ob::State *s2, std::pair<ob::State*, double> &lastValid) const override

Checks the slope of the motion using the first and second states position, if the slope is below the threshold, it returns true otherwise it would return false.

Parameters:

  • s1 – First state in the motion

  • s2 – Second state in the motion

Returns:

validity of motion

Protected Attributes

ParamsConstPtr params_

Parameters containing the data for map layers.