Abstract definition for a class checking the validity of motions – path segments between states. This is often called a local planner. The implementation of this class must be thread safe. More...
#include <ompl/base/MotionValidator.h>
Public Member Functions  
MotionValidator (SpaceInformation *si)  
Constructor.  
MotionValidator (const SpaceInformationPtr &si)  
Constructor.  
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. More...  
virtual bool  checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const =0 
Check if the path between two states is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid. More...  
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  
SpaceInformation *  si_ 
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
Abstract definition for a class checking the validity of motions – path segments between states. This is often called a local planner. The implementation of this class must be thread safe.
Definition at line 64 of file MotionValidator.h.
Member Function Documentation
◆ checkMotion() [1/2]

pure virtual 
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
 Note
 This function updates the number of valid and invalid segments.
Implemented in ompl::base::ReedsSheppMotionValidator, ompl::base::DubinsMotionValidator, ompl::base::ConstrainedMotionValidator, ompl::base::DiscreteMotionValidator, and ompl::app::FCLContinuousMotionValidator.
◆ checkMotion() [2/2]

pure virtual 
Check if the path between two states is valid. Also compute the last state that was valid and the time of that state. The time is used to parametrize the motion from s1 to s2, s1 being at t = 0 and s2 being at t = 1. This function assumes s1 is valid.
 Parameters

s1 start state of the motion to be checked (assumed to be valid) s2 final state of the motion to be checked lastValid first: storage for the last valid state (may be nullptr, if the user does not care about the exact state); this need not be different from s1 or s2. second: the time (between 0 and 1) of the last valid state, on the motion from s1 to s2. If the function returns false, lastValid.first must be set to a valid state, even if that implies copying s1 to lastValid.first (in case lastValid.second = 0). If the function returns true, lastValid.first and lastValid.second should not be modified.
 Note
 This function updates the number of valid and invalid segments.
Implemented in ompl::base::ReedsSheppMotionValidator, ompl::base::DubinsMotionValidator, ompl::base::ConstrainedMotionValidator, and ompl::base::DiscreteMotionValidator.
The documentation for this class was generated from the following file:
 ompl/base/MotionValidator.h