ompl::app::FCLContinuousMotionValidator Class Reference
A motion validator that utilizes FCL's continuous collision checking. More...
#include <omplapp/geometry/detail/FCLContinuousMotionValidator.h>
Inheritance diagram for ompl::app::FCLContinuousMotionValidator:
Public Member Functions | |
| FCLContinuousMotionValidator (ob::SpaceInformation *si, MotionModel mm) | |
| Constructor. | |
| FCLContinuousMotionValidator (const ob::SpaceInformationPtr &si, MotionModel mm) | |
| Constructor. | |
| ~FCLContinuousMotionValidator () override=default | |
| Destructor. | |
| bool | checkMotion (const ob::State *s1, const ob::State *s2) const override |
| Returns true if motion between s1 and s2 is collision free. | |
| bool | checkMotion (const ob::State *s1, const ob::State *s2, std::pair< ob::State *, double > &lastValid) const override |
| Checks the motion between s1 and s2. If the motion is invalid, lastValid contains the last valid state and the parameterized time [0,1) when this state occurs. | |
 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, 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. More... | |
| 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. | |
Protected Member Functions | |
| void | defaultSettings (MotionModel mm) |
| Restore settings to default values. | |
Protected Attributes | |
| FCLMethodWrapperPtr | fclWrapper_ |
| Wrapper for FCL collision and distance methods. | |
| ob::StateSpace * | stateSpace_ |
| Handle to the statespace that this motion validator operates in. | |
| 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 motion validator that utilizes FCL's continuous collision checking.
Definition at line 46 of file FCLContinuousMotionValidator.h.
The documentation for this class was generated from the following file:
- omplapp/geometry/detail/FCLContinuousMotionValidator.h