PathGeometric.h
80 PathGeometric(const base::SpaceInformationPtr &si, const base::State *state1, const base::State *state2);
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
Definition: PathGeometric.h:255
double smoothness() const
Compute a notion of smoothness for this path. The closer the value is to 0, the smoother the path....
Definition: PathGeometric.cpp:123
bool randomValid(unsigned int attempts)
Set this path to a random valid segment. Sample attempts times for valid segments....
Definition: PathGeometric.cpp:406
double clearance() const
Compute the clearance of the way-points along the path (no interpolation is performed)....
Definition: PathGeometric.cpp:111
void print(std::ostream &out) const override
Print the path to a stream.
Definition: PathGeometric.cpp:182
std::pair< bool, bool > checkAndRepair(unsigned int attempts)
Check if the path is valid. If it is not, attempts are made to fix the path by sampling around invali...
Definition: PathGeometric.cpp:202
void keepAfter(const base::State *state)
Keep the part of the path that is after state (getClosestIndex() is used to find out which way-point ...
Definition: PathGeometric.cpp:475
virtual void printAsMatrix(std::ostream &out) const
Print the path as a real-valued matrix where the i-th row represents the i-th state along the path....
Definition: PathGeometric.cpp:189
void freeMemory()
Free the memory corresponding to the states on this path.
Definition: PathGeometric.cpp:85
const base::State * getState(unsigned int index) const
Get the state located at index along the path.
Definition: PathGeometric.h:249
PathGeometric & operator=(const PathGeometric &other)
Assignment operator.
Definition: PathGeometric.cpp:67
void prepend(const base::State *state)
Prepend state to the start of this path. The memory for state is copied.
Definition: PathGeometric.cpp:470
void keepBefore(const base::State *state)
Keep the part of the path that is before state (getClosestIndex() is used to find out which way-point...
Definition: PathGeometric.cpp:493
void copyFrom(const PathGeometric &other)
Copy data to this path from another path instance.
Definition: PathGeometric.cpp:78
void interpolate()
Insert a number of states in a path so that the path is made up of (approximately) the states checked...
Definition: PathGeometric.cpp:307
double length() const override
Compute the length of a geometric path (sum of lengths of segments that make up the path)
Definition: PathGeometric.cpp:103
void append(const base::State *state)
Append state to the end of this path. The memory for state is copied.
Definition: PathGeometric.cpp:453
base::Cost cost(const base::OptimizationObjectivePtr &obj) const override
The sum of the costs for the sequence of segments that make up the path, computed using OptimizationO...
Definition: PathGeometric.cpp:91
PathGeometric(const base::SpaceInformationPtr &si)
Construct a path instance for a given space information.
Definition: PathGeometric.h:69
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathGeometric.h:243
std::vector< base::State * > states_
The list of states that make up the path.
Definition: PathGeometric.h:273
int getClosestIndex(const base::State *state) const
Get the index of the way-point along the path that is closest to state. Returns -1 for an empty path.
Definition: PathGeometric.cpp:514
void overlay(const PathGeometric &over, unsigned int startIndex=0)
Overlay the path over on top of the current path. States are added to the current path if needed (by ...
Definition: PathGeometric.cpp:432
std::vector< base::State * > & getStates()
Get the states that make up the path (as a reference, so it can be modified, hence the function is no...
Definition: PathGeometric.h:237