Path.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_PATH_
38 #define OMPL_BASE_PATH_
39 
40 #include "ompl/util/ClassForward.h"
41 #include "ompl/base/Cost.h"
42 #include <iostream>
43 #include <boost/concept_check.hpp>
44 #include <utility>
45 
46 namespace ompl
47 {
48  namespace base
49  {
51  OMPL_CLASS_FORWARD(SpaceInformation);
53 
55  OMPL_CLASS_FORWARD(OptimizationObjective);
57 
59 
60  OMPL_CLASS_FORWARD(Path);
62 
67  class Path
68  {
69  public:
70  // non-copyable
71  Path(const Path &) = delete;
72  Path &operator=(const Path &) = delete;
73 
75  Path(SpaceInformationPtr si) : si_(std::move(si))
76  {
77  }
78 
80  virtual ~Path() = default;
81 
84  {
85  return si_;
86  }
87 
89  template <class T>
90  const T *as() const
91  {
93  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Path *>));
94 
95  return static_cast<const T *>(this);
96  }
97 
99  template <class T>
100  T *as()
101  {
103  BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Path *>));
104 
105  return static_cast<T *>(this);
106  }
107 
109  virtual double length() const = 0;
110 
113  virtual Cost cost(const OptimizationObjectivePtr &obj) const = 0;
114 
116  virtual bool check() const = 0;
117 
119  virtual void print(std::ostream &out) const = 0;
120 
121  protected:
124  };
125  }
126 }
127 
128 #endif
STL namespace.
Path(SpaceInformationPtr si)
Constructor. A path must always know the space information it is part of.
Definition: Path.h:75
const SpaceInformationPtr & getSpaceInformation() const
Get the space information associated to this class.
Definition: Path.h:83
SpaceInformationPtr si_
The space information this path is part of.
Definition: Path.h:123
virtual bool check() const =0
Check if the path is valid.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Abstract definition of a path.
Definition: Path.h:67
virtual double length() const =0
Return the length of a path.
A shared pointer wrapper for ompl::base::SpaceInformation.
virtual Cost cost(const OptimizationObjectivePtr &obj) const =0
Return the cost of the path with respect to a specified optimization objective.
const T * as() const
Cast this instance to a desired type.
Definition: Path.h:90
virtual ~Path()=default
Destructor.
virtual void print(std::ostream &out) const =0
Print the path to a stream.
A shared pointer wrapper for ompl::base::OptimizationObjective.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
T * as()
Cast this instance to a desired type.
Definition: Path.h:100