A Dubins motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution. More...
#include <ompl/base/spaces/DubinsStateSpace.h>
Public Member Functions | |
| DubinsMotionValidator (SpaceInformation *si) | |
| DubinsMotionValidator (const SpaceInformationPtr &si) | |
| bool | checkMotion (const State *s1, const State *s2) const override |
| Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid. More... | |
| bool | checkMotion (const State *s1, const State *s2, std::pair< State *, double > &lastValid) const override |
| 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... | |
 Public Member Functions inherited from ompl::base::MotionValidator | |
| MotionValidator (SpaceInformation *si) | |
| Constructor. | |
| MotionValidator (const SpaceInformationPtr &si) | |
| Constructor. | |
| 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. | |
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
A Dubins motion validator that only uses the state validity checker. Motions are checked for validity at a specified resolution.
This motion validator is almost identical to the DiscreteMotionValidator except that it remembers the optimal DubinsPath between different calls to interpolate.
Definition at line 230 of file DubinsStateSpace.h.
Member Function Documentation
◆ checkMotion() [1/2]
|
overridevirtual |
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.
Implements ompl::base::MotionValidator.
Definition at line 386 of file DubinsStateSpace.cpp.
◆ checkMotion() [2/2]
|
overridevirtual |
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.
Implements ompl::base::MotionValidator.
Definition at line 340 of file DubinsStateSpace.cpp.
The documentation for this class was generated from the following files:
- ompl/base/spaces/DubinsStateSpace.h
- ompl/base/spaces/src/DubinsStateSpace.cpp