equivalence_relations.h
Go to the documentation of this file.
1 /*********************************************************************
2  *
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2016,
6  * TU Dortmund - Institute of Control Theory and Systems Engineering.
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the institute nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  * Author: Christoph Rösmann
37  *********************************************************************/
38 
39 #ifndef EQUIVALENCE_RELATIONS_H_
40 #define EQUIVALENCE_RELATIONS_H_
41 
42 #include <boost/shared_ptr.hpp>
43 
44 namespace teb_local_planner
45 {
46 
64 {
65 public:
66 
71 
75  virtual ~EquivalenceClass() {}
76 
81  virtual bool isEqual(const EquivalenceClass& other) const = 0;
82 
87  virtual bool isValid() const = 0;
88 
93  virtual bool isReasonable() const = 0;
94 
95 };
96 
98 
99 
100 } // namespace teb_local_planner
101 
102 
103 #endif /* EQUIVALENCE_RELATIONS_H_ */
virtual bool isEqual(const EquivalenceClass &other) const =0
Check if two candidate classes are equivalent.
virtual bool isReasonable() const =0
Check if the trajectory is non-looping around an obstacle.
virtual bool isValid() const =0
Check if the equivalence value is detected correctly.
Abstract class that defines an interface for computing and comparing equivalence classes.
virtual ~EquivalenceClass()
virtual destructor


teb_local_planner
Author(s): Christoph Rösmann
autogenerated on Wed Jun 3 2020 04:03:08