vamp_state_space.VampMotionValidator Class Reference

Inheritance diagram for vamp_state_space.VampMotionValidator:

Public Member Functions
	__init__ (self, ob.SpaceInformation si, vamp.Environment env, vamp.robot robot)
bool	checkMotion (self, ob.RealVectorStateType s1, ob.RealVectorStateType s2)
Public Member Functions inherited from ompl::base::MotionValidator
	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.
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.
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.

Public Attributes
	env = env
	robot = robot
	dimension = robot.dimension()

Additional Inherited Members
Protected Attributes inherited from ompl::base::MotionValidator
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

Motion validator using VAMP collision checking

Definition at line 5 of file vamp_state_space.py.

Constructor & Destructor Documentation

__init__()

vamp_state_space.VampMotionValidator.__init__	(		self,
		ob.SpaceInformation	si,
		vamp.Environment	env,
		vamp.robot	robot )

Definition at line 8 of file vamp_state_space.py.

Member Function Documentation

checkMotion()

bool vamp_state_space.VampMotionValidator.checkMotion	(		self,
		ob.RealVectorStateType	s1,
		ob.RealVectorStateType	s2 )

Definition at line 16 of file vamp_state_space.py.

Member Data Documentation

dimension

vamp_state_space.VampMotionValidator.dimension = robot.dimension()

Definition at line 14 of file vamp_state_space.py.

env

vamp_state_space.VampMotionValidator.env = env

Definition at line 12 of file vamp_state_space.py.

robot

vamp_state_space.VampMotionValidator.robot = robot

Definition at line 13 of file vamp_state_space.py.

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

• demos/vamp/vamp_state_space.py