Class Path

Defined in File Path.h

Inheritance Relationships

Derived Types

public ompl::control::PathControl (Class PathControl)
public ompl::geometric::PathGeometric (Class PathGeometric)

Class Documentation

class Path

Abstract definition of a path.

Subclassed by ompl::control::PathControl, ompl::geometric::PathGeometric

Public Functions

Path(const Path&) = delete

Path &operator=(const Path&) = delete

inline Path(SpaceInformationPtr si): Constructor. A path must always know the space information it is part of.

virtual ~Path() = default: Destructor.

inline const SpaceInformationPtr &getSpaceInformation() const: Get the space information associated to this class.

template<class T> inline const T *as() const: Cast this instance to a desired type.

template<class T> inline T *as(): Cast this instance to a desired type.

virtual double length() const = 0: Return the length of a path.

virtual Cost cost(const OptimizationObjectivePtr &obj) const = 0: Return the cost of the path with respect to a specified optimization objective.

virtual bool check() const = 0: Check if the path is valid.

virtual void print(std::ostream &out) const = 0: Print the path to a stream.

Protected Attributes

SpaceInformationPtr si_: The space information this path is part of.