Class MotionValidator

Inheritance Relationships

Derived Types

Class Documentation

class MotionValidator

Abstract definition for a class checking the validity of motions — path segments between states. This is often called a local planner. The implementation of this class must be thread safe.

Subclassed by ompl::base::ConstrainedMotionValidator, ompl::base::DiscreteMotionValidator, ompl::base::Dubins3DMotionValidator< Dubins3DStateSpace >, ompl::base::DubinsMotionValidator< Dubins2DStateSpace >

Public Functions

inline MotionValidator(SpaceInformation *si)

Constructor.

inline MotionValidator(const SpaceInformationPtr &si)

Constructor.

virtual ~MotionValidator() = default
virtual bool checkMotion(const State *s1, const State *s2) const = 0

Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.

Note

This function updates the number of valid and invalid segments.

virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const = 0

Check if the path between two states is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid.

Note

This function updates the number of valid and invalid segments.

Parameters:

  • s1 – start state of the motion to be checked (assumed to be valid)

  • s2 – final state of the motion to be checked

  • lastValid – first: storage for the last valid state (may be nullptr, if the user does not care about the exact state); this need not be different from s1 or s2. second: the time (between 0 and 1) of the last valid state, on the motion from s1 to s2. If the function returns false, lastValid.first must be set to a valid state, even if that implies copying s1 to lastValid.first (in case lastValid.second = 0). If the function returns true, lastValid.first and lastValid.second should not be modified.

inline unsigned int getValidMotionCount() const

Get the number of segments that tested as valid.

inline unsigned int getInvalidMotionCount() const

Get the number of segments that tested as invalid.

inline unsigned int getCheckedMotionCount() const

Get the total number of segments tested, regardless of result.

inline double getValidMotionFraction() const

Get the fraction of segments that tested as valid.

inline void resetMotionCounter()

Reset the counters for valid and invalid segments.

Protected Attributes

SpaceInformation *si_

The instance of space information this state validity checker operates on.

mutable unsigned int valid_

Number of valid segments.

mutable unsigned int invalid_

Number of invalid segments.