MotionValidator.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_MOTION_VALIDATOR_
38 #define OMPL_BASE_MOTION_VALIDATOR_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
42 #include <utility>
43 
44 namespace ompl
45 {
46  namespace base
47  {
49  OMPL_CLASS_FORWARD(SpaceInformation);
51 
53 
54  OMPL_CLASS_FORWARD(MotionValidator);
56 
64  class MotionValidator
65  {
66  public:
68  MotionValidator(SpaceInformation *si) : si_(si), valid_(0), invalid_(0)
69  {
70  }
71 
73  MotionValidator(const SpaceInformationPtr &si) : si_(si.get()), valid_(0), invalid_(0)
74  {
75  }
76 
77  virtual ~MotionValidator() = default;
78 
83  virtual bool checkMotion(const State *s1, const State *s2) const = 0;
84 
99  virtual bool checkMotion(const State *s1, const State *s2, std::pair<State *, double> &lastValid) const = 0;
100 
102  unsigned int getValidMotionCount() const
103  {
104  return valid_;
105  }
106 
108  unsigned int getInvalidMotionCount() const
109  {
110  return invalid_;
111  }
112 
114  unsigned int getCheckedMotionCount() const
115  {
116  return valid_ + invalid_;
117  }
118 
120  double getValidMotionFraction() const
121  {
122  return valid_ == 0 ? 0.0 : (double)valid_ / (double)(invalid_ + valid_);
123  }
124 
126  void resetMotionCounter()
127  {
129  }
130 
131  protected:
134 
136  mutable unsigned int valid_;
137 
139  mutable unsigned int invalid_;
140  };
141  }
142 }
143 
144 #endif
The base class for space information. This contains all the information about the space planning is d...
A shared pointer wrapper for ompl::base::SpaceInformation.
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.
void resetMotionCounter()
Reset the counters for valid and invalid segments.
MotionValidator(SpaceInformation *si)
Constructor.
double getValidMotionFraction() const
Get the fraction of segments that tested as valid.
unsigned int invalid_
Number of invalid segments.
unsigned int getCheckedMotionCount() const
Get the total number of segments tested, regardless of result.
SpaceInformation * si_
The instance of space information this state validity checker operates on.
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.
unsigned int valid_
Number of valid segments.
Main namespace. Contains everything in this library.