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. More...
#include <MotionValidator.h>
Public Member Functions | |
| 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. | |
| 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. | |
| unsigned int | getInvalidMotionCount (void) const |
| Get the number of segments that tested as invalid. | |
| unsigned int | getValidMotionCount (void) const |
| Get the number of segments that tested as valid. | |
| double | getValidMotionFraction (void) const |
| Get the fraction of segments that tested as valid. | |
| MotionValidator (const SpaceInformationPtr &si) | |
| Constructor. | |
| MotionValidator (SpaceInformation *si) | |
| Constructor. | |
| void | resetMotionCounter (void) |
| Reset the counters for valid and invalid segments. | |
| virtual | ~MotionValidator (void) |
Protected Attributes | |
| unsigned int | invalid_ |
| Number of invalid segments. | |
| SpaceInformation * | si_ |
| The instance of space information this state validity checker operates on. | |
| unsigned int | valid_ |
| Number of valid segments. | |
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.
Definition at line 62 of file MotionValidator.h.
| ompl::base::MotionValidator::MotionValidator | ( | SpaceInformation * | si | ) | [inline] |
Constructor.
Definition at line 67 of file MotionValidator.h.
| ompl::base::MotionValidator::MotionValidator | ( | const SpaceInformationPtr & | si | ) | [inline] |
Constructor.
Definition at line 72 of file MotionValidator.h.
| virtual ompl::base::MotionValidator::~MotionValidator | ( | void | ) | [inline, virtual] |
Definition at line 76 of file MotionValidator.h.
| virtual bool ompl::base::MotionValidator::checkMotion | ( | const State * | s1, | |
| const State * | s2, | |||
| std::pair< State *, double > & | lastValid | |||
| ) | const [pure 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.
| 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. |
Implemented in ompl::base::DiscreteMotionValidator.
| virtual bool ompl::base::MotionValidator::checkMotion | ( | const State * | s1, | |
| const State * | s2 | |||
| ) | const [pure virtual] |
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
Implemented in ompl::base::DiscreteMotionValidator.
| unsigned int ompl::base::MotionValidator::getInvalidMotionCount | ( | void | ) | const [inline] |
Get the number of segments that tested as invalid.
Definition at line 102 of file MotionValidator.h.
| unsigned int ompl::base::MotionValidator::getValidMotionCount | ( | void | ) | const [inline] |
Get the number of segments that tested as valid.
Definition at line 96 of file MotionValidator.h.
| double ompl::base::MotionValidator::getValidMotionFraction | ( | void | ) | const [inline] |
Get the fraction of segments that tested as valid.
Definition at line 108 of file MotionValidator.h.
| void ompl::base::MotionValidator::resetMotionCounter | ( | void | ) | [inline] |
Reset the counters for valid and invalid segments.
Definition at line 114 of file MotionValidator.h.
unsigned int ompl::base::MotionValidator::invalid_ [mutable, protected] |
Number of invalid segments.
Definition at line 128 of file MotionValidator.h.
SpaceInformation* ompl::base::MotionValidator::si_ [protected] |
The instance of space information this state validity checker operates on.
Definition at line 122 of file MotionValidator.h.
unsigned int ompl::base::MotionValidator::valid_ [mutable, protected] |
Number of valid segments.
Definition at line 125 of file MotionValidator.h.
