ompl::base::Path Class Reference

Abstract definition of a path. More...

#include <ompl/base/Path.h>

Inheritance diagram for ompl::base::Path:

Public Member Functions
	Path (const Path &)=delete
Path &	operator= (const Path &)=delete
	Path (SpaceInformationPtr si)
	Constructor. A path must always know the space information it is part of.
virtual	~Path ()=default
	Destructor.
const SpaceInformationPtr &	getSpaceInformation () const
	Get the space information associated to this class.
template<class T>
const T *	as () const
	Cast this instance to a desired type.
template<class T>
T *	as ()
	Cast this instance to a desired type.
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.

Constructor & Destructor Documentation

Path()

ompl::base::Path::Path ( SpaceInformationPtr si )

inline

Constructor. A path must always know the space information it is part of.

Definition at line 75 of file Path.h.

Member Function Documentation

as() [1/2]

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.

as() [2/2]

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.

check()

virtual bool ompl::base::Path::check ( ) const

pure virtual

Check if the path is valid.

Implemented in ompl::control::PathControl, and ompl::geometric::PathGeometric.

getSpaceInformation()

const SpaceInformationPtr & ompl::base::Path::getSpaceInformation ( ) const

inline

Get the space information associated to this class.

Definition at line 83 of file Path.h.

length()

virtual double ompl::base::Path::length ( ) const

pure virtual

Return the length of a path.

Implemented in ompl::control::PathControl, and ompl::geometric::PathGeometric.

print()

virtual void ompl::base::Path::print ( std::ostream & out ) const

pure virtual

Print the path to a stream.

Implemented in ompl::control::PathControl, and ompl::geometric::PathGeometric.

Member Data Documentation

si_

SpaceInformationPtr ompl::base::Path::si_

protected

The space information this path is part of.

Definition at line 123 of file Path.h.

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

• ompl/base/Path.h