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MotionValidator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_MOTION_VALIDATOR_
38 #define OMPL_BASE_MOTION_VALIDATOR_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
42 #include <utility>
43 
44 namespace ompl
45 {
46 
47  namespace base
48  {
50  OMPL_CLASS_FORWARD(SpaceInformation);
52 
54 
55  OMPL_CLASS_FORWARD(MotionValidator);
57 
66  {
67  public:
68 
71  {
72  }
73 
75  MotionValidator(const SpaceInformationPtr &si) : si_(si.get()), valid_(0), invalid_(0)
76  {
77  }
78 
79  virtual ~MotionValidator(void)
80  {
81  }
82 
86  virtual bool checkMotion(const State *s1, const State *s2) const = 0;
87 
96  virtual bool checkMotion(const State *s1, const State *s2, std::pair<State*, double> &lastValid) const = 0;
97 
99  unsigned int getValidMotionCount(void) const
100  {
101  return valid_;
102  }
103 
105  unsigned int getInvalidMotionCount(void) const
106  {
107  return invalid_;
108  }
109 
111  double getValidMotionFraction(void) const
112  {
113  return valid_ == 0 ? 0.0 : (double)valid_ / (double)(invalid_ + valid_);
114  }
115 
118  {
119  valid_ = invalid_ = 0;
120  }
121 
122  protected:
123 
126 
128  mutable unsigned int valid_;
129 
131  mutable unsigned int invalid_;
132 
133  };
134 
135  }
136 }
137 
138 #endif
unsigned int invalid_
Number of invalid segments.
double getValidMotionFraction(void) const
Get the fraction of segments that tested as 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...
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...
void resetMotionCounter(void)
Reset the counters for valid and invalid segments.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
MotionValidator(const SpaceInformationPtr &si)
Constructor.
MotionValidator(SpaceInformation *si)
Constructor.
unsigned int getValidMotionCount(void) const
Get the number of segments that tested as valid.
unsigned int getInvalidMotionCount(void) const
Get the number of segments that tested as invalid.