ValidityCheckers_UseCase.cpp

This is an example of how to use the validity checker methods.

void ValidityCheckersUseCase() {
 
  // The validity checker (VC) label is a string that corresponds to the XML node
  // label for the validity checker you would like to use.
  std::string vcLabel = "CollisionDetectionValidity";
 
  // Given a VC label the MPLibrary function GetValidityChecker() returns a
  // ValidityCheckerMethod object that points to an appropriate VC.
  ValidityCheckerMethod* vc = this->GetValidityChecker(vcLabel);
 
  // The C-space configuration cfg will be tested for validity.
  CfgType cfg;
 
  // The collision detection info object will be used by the VC to output
  // additional information such as the clearance (distance from obstacles) of
  // the configuration.
  CDInfo cdInfo;
 
  // The caller function name is given to the VC for debugging purposes.
  std::string caller = "ValidityCheckersUseCaseFunction";
 
  // The IsValid function will classify the C-space configuration cfg as
  // belonging to free-space or obstacle space by returning true or false
  // respectively. Additional information will be stored in the CDInfo
  // object cdInfo, and if it is run in debugging mode or an exception is
  // thrown, the caller string will be used to indicate the calling function.
  bool valid = vc->IsValid(cfg, cdInfo, caller);
}