ompl::base::Path Class Referenceabstract

Abstract definition of a path. More...

#include <ompl/base/Path.h>

Inheritance diagram for ompl::base::Path:

## Public Member Functions

Path (const Path &)=delete

Pathoperator= (const Path &)=delete

Path (SpaceInformationPtr si)
Constructor. A path must always know the space information it is part of.

virtual ~Path ()=default
Destructor.

const SpaceInformationPtrgetSpaceInformation () const
Get the space information associated to this class.

template<class T >
const T * as () const
Cast this instance to a desired type. More...

template<class T >
T * as ()
Cast this instance to a desired type. More...

virtual double length () const =0
Return the length of a path.

virtual Cost cost (const OptimizationObjectivePtr &obj) const =0
Return the cost of the path with respect to a specified optimization objective.

virtual bool check () const =0
Check if the path is valid.

virtual void print (std::ostream &out) const =0
Print the path to a stream.

## Protected Attributes

SpaceInformationPtr si_
The space information this path is part of.

## Detailed Description

Abstract definition of a path.

Definition at line 67 of file Path.h.

## ◆ as() [1/2]

template<class T >
 const T* ompl::base::Path::as ( ) const
inline

Cast this instance to a desired type.

Make sure the type we are allocating is indeed a Path

Definition at line 90 of file Path.h.

## ◆ as() [2/2]

template<class T >
 T* ompl::base::Path::as ( )
inline

Cast this instance to a desired type.

Make sure the type we are allocating is indeed a Path

Definition at line 100 of file Path.h.

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