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  namespace base
47  {
49  OMPL_CLASS_FORWARD(SpaceInformation);
51 
53 
54  OMPL_CLASS_FORWARD(MotionValidator);
56 
65  {
66  public:
69  {
70  }
71 
73  MotionValidator(const SpaceInformationPtr &si) : si_(si.get()), valid_(0), invalid_(0)
74  {
75  }
76 
77  virtual ~MotionValidator() = default;
78 
83  virtual bool checkMotion(const State *s1, const State *s2) const = 0;
84 
99  virtual bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const = 0;
100 
102  unsigned int getValidMotionCount() const
103  {
104  return valid_;
105  }
106 
108  unsigned int getInvalidMotionCount() const
109  {
110  return invalid_;
111  }
112 
114  unsigned int getCheckedMotionCount() const
115  {
116  return valid_ + invalid_;
117  }
118 
120  double getValidMotionFraction() const
121  {
122  return valid_ == 0 ? 0.0 : (double)valid_ / (double)(invalid_ + valid_);
123  }
124 
127  {
128  valid_ = invalid_ = 0;
129  }
130 
131  protected:
134 
136  mutable unsigned int valid_;
137 
139  mutable unsigned int invalid_;
140  };
141  }
142 }
143 
144 #endif
unsigned int invalid_
Number of invalid segments.
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 getValidMotionCount() const
Get the number of segments that tested as 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...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
double getValidMotionFraction() const
Get the fraction of segments that tested as valid.
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:49
MotionValidator(const SpaceInformationPtr &si)
Constructor.
MotionValidator(SpaceInformation *si)
Constructor.
void resetMotionCounter()
Reset the counters for valid and invalid segments.
unsigned int getInvalidMotionCount() const
Get the number of segments that tested as invalid.
unsigned int getCheckedMotionCount() const
Get the total number of segments tested, regardless of result.