ompl::base::DiscreteMotionValidator Class Reference

A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution. More...

#include <DiscreteMotionValidator.h>

Inheritance diagram for ompl::base::DiscreteMotionValidator:

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List of all members.

Public Member Functions
virtual bool	checkMotion (const State s1, const State s2, std::pair< State *, double > &lastValid) const
	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.
virtual bool	checkMotion (const State s1, const State s2) const
	Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
	DiscreteMotionValidator (const SpaceInformationPtr &si)
	Constructor.
	DiscreteMotionValidator (SpaceInformation *si)
	Constructor.
virtual	~DiscreteMotionValidator (void)
Private Member Functions
void	defaultSettings (void)
Private Attributes
StateSpace *	stateSpace_

Detailed Description

A motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution.

Definition at line 45 of file DiscreteMotionValidator.h.

Constructor & Destructor Documentation

ompl::base::DiscreteMotionValidator::DiscreteMotionValidator ( SpaceInformation * si ) [inline]

Constructor.

Definition at line 46 of file DiscreteMotionValidator.h.

ompl::base::DiscreteMotionValidator::DiscreteMotionValidator ( const SpaceInformationPtr & si ) [inline]

Constructor.

Definition at line 52 of file DiscreteMotionValidator.h.

virtual ompl::base::DiscreteMotionValidator::~DiscreteMotionValidator ( void ) [inline, virtual]

Definition at line 57 of file DiscreteMotionValidator.h.

Member Function Documentation

virtual bool ompl::base::DiscreteMotionValidator::checkMotion	(	const State *	s1,
		const State *	s2,
		std::pair< State *, double > &	lastValid
	)			const `[virtual]`

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.

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 NULL, 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.