ompl::base::ConstrainedMotionValidator Class Reference

Constrained configuration space specific implementation of checkMotion() that uses discreteGeodesic(). More...

#include <ompl/base/spaces/constraint/ConstrainedStateSpace.h>

Inheritance diagram for ompl::base::ConstrainedMotionValidator:

Public Member Functions

 ConstrainedMotionValidator (SpaceInformation *si)
 Constructor. More...
 
 ConstrainedMotionValidator (const SpaceInformationPtr &si)
 Constructor.
 
bool checkMotion (const State *s1, const State *s2) const override
 Return whether we can step from s1 to s2 along the manifold without collision.
 
bool checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const override
 Return whether we can step from s1 to s2 along the manifold without collision. If not, return the last valid state and its interpolation parameter in lastValid. More...
 
- Public Member Functions inherited from ompl::base::MotionValidator
 MotionValidator (SpaceInformation *si)
 Constructor.
 
 MotionValidator (const SpaceInformationPtr &si)
 Constructor.
 
unsigned int getValidMotionCount () const
 Get the number of segments that tested as valid.
 
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.
 
double getValidMotionFraction () const
 Get the fraction of segments that tested as valid.
 
void resetMotionCounter ()
 Reset the counters for valid and invalid segments.
 

Protected Attributes

const ConstrainedStateSpacess_
 Space in which we check motion.
 
- Protected Attributes inherited from ompl::base::MotionValidator
SpaceInformationsi_
 The instance of space information this state validity checker operates on.
 
unsigned int valid_
 Number of valid segments.
 
unsigned int invalid_
 Number of invalid segments.
 

Detailed Description

Constrained configuration space specific implementation of checkMotion() that uses discreteGeodesic().

Definition at line 66 of file ConstrainedStateSpace.h.

Constructor & Destructor Documentation

◆ ConstrainedMotionValidator()

ompl::base::ConstrainedMotionValidator::ConstrainedMotionValidator ( SpaceInformation si)

Constructor.

ConstrainedMotionValidator.

Public

Definition at line 45 of file ConstrainedStateSpace.cpp.

Member Function Documentation

◆ checkMotion()

bool ompl::base::ConstrainedMotionValidator::checkMotion ( const State s1,
const State s2,
std::pair< State *, double > &  lastValid 
) const
overridevirtual

Return whether we can step from s1 to s2 along the manifold without collision. If not, return the last valid state and its interpolation parameter in lastValid.

Note
The interpolation parameter will not likely reproduce the last valid state if used in interpolation since the distance between the last valid state and s2 is estimated using the ambient metric.

Implements ompl::base::MotionValidator.

Definition at line 60 of file ConstrainedStateSpace.cpp.


The documentation for this class was generated from the following files: